diff --git a/esphome/components/esp32_can/canbus.py b/esphome/components/esp32_can/canbus.py
index f4ba032009..37bdfa3962 100644
--- a/esphome/components/esp32_can/canbus.py
+++ b/esphome/components/esp32_can/canbus.py
@@ -1,18 +1,23 @@
-import esphome.codegen as cg
-import esphome.config_validation as cv
 from esphome import pins
+import esphome.codegen as cg
 from esphome.components import canbus
-from esphome.const import CONF_ID, CONF_RX_PIN, CONF_TX_PIN
-from esphome.components.canbus import CanbusComponent, CanSpeed, CONF_BIT_RATE
-
+from esphome.components.canbus import CONF_BIT_RATE, CanbusComponent, CanSpeed
 from esphome.components.esp32 import get_esp32_variant
 from esphome.components.esp32.const import (
     VARIANT_ESP32,
-    VARIANT_ESP32S2,
-    VARIANT_ESP32S3,
     VARIANT_ESP32C3,
     VARIANT_ESP32C6,
     VARIANT_ESP32H2,
+    VARIANT_ESP32S2,
+    VARIANT_ESP32S3,
+)
+import esphome.config_validation as cv
+from esphome.const import (
+    CONF_ID,
+    CONF_RX_PIN,
+    CONF_RX_QUEUE_LEN,
+    CONF_TX_PIN,
+    CONF_TX_QUEUE_LEN,
 )
 
 CODEOWNERS = ["@Sympatron"]
@@ -77,6 +82,8 @@ CONFIG_SCHEMA = canbus.CANBUS_SCHEMA.extend(
         cv.Optional(CONF_BIT_RATE, default="125KBPS"): validate_bit_rate,
         cv.Required(CONF_RX_PIN): pins.internal_gpio_input_pin_number,
         cv.Required(CONF_TX_PIN): pins.internal_gpio_output_pin_number,
+        cv.Optional(CONF_RX_QUEUE_LEN): cv.uint32_t,
+        cv.Optional(CONF_TX_QUEUE_LEN): cv.uint32_t,
     }
 )
 
@@ -87,3 +94,7 @@ async def to_code(config):
 
     cg.add(var.set_rx(config[CONF_RX_PIN]))
     cg.add(var.set_tx(config[CONF_TX_PIN]))
+    if (rx_queue_len := config.get(CONF_RX_QUEUE_LEN)) is not None:
+        cg.add(var.set_rx_queue_len(rx_queue_len))
+    if (tx_queue_len := config.get(CONF_TX_QUEUE_LEN)) is not None:
+        cg.add(var.set_tx_queue_len(tx_queue_len))
diff --git a/esphome/components/esp32_can/esp32_can.cpp b/esphome/components/esp32_can/esp32_can.cpp
index 214b72e864..5a45859b1f 100644
--- a/esphome/components/esp32_can/esp32_can.cpp
+++ b/esphome/components/esp32_can/esp32_can.cpp
@@ -69,6 +69,13 @@ static bool get_bitrate(canbus::CanSpeed bitrate, twai_timing_config_t *t_config
 bool ESP32Can::setup_internal() {
   twai_general_config_t g_config =
       TWAI_GENERAL_CONFIG_DEFAULT((gpio_num_t) this->tx_, (gpio_num_t) this->rx_, TWAI_MODE_NORMAL);
+  if (this->tx_queue_len_.has_value()) {
+    g_config.tx_queue_len = this->tx_queue_len_.value();
+  }
+  if (this->rx_queue_len_.has_value()) {
+    g_config.rx_queue_len = this->rx_queue_len_.value();
+  }
+
   twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();
   twai_timing_config_t t_config;
 
diff --git a/esphome/components/esp32_can/esp32_can.h b/esphome/components/esp32_can/esp32_can.h
index a428834f65..b3086f9a48 100644
--- a/esphome/components/esp32_can/esp32_can.h
+++ b/esphome/components/esp32_can/esp32_can.h
@@ -12,6 +12,8 @@ class ESP32Can : public canbus::Canbus {
  public:
   void set_rx(int rx) { rx_ = rx; }
   void set_tx(int tx) { tx_ = tx; }
+  void set_tx_queue_len(uint32_t tx_queue_len) { this->tx_queue_len_ = tx_queue_len; }
+  void set_rx_queue_len(uint32_t rx_queue_len) { this->rx_queue_len_ = rx_queue_len; }
   ESP32Can(){};
 
  protected:
@@ -21,6 +23,8 @@ class ESP32Can : public canbus::Canbus {
 
   int rx_{-1};
   int tx_{-1};
+  optional<uint32_t> tx_queue_len_{};
+  optional<uint32_t> rx_queue_len_{};
 };
 
 }  // namespace esp32_can
diff --git a/esphome/const.py b/esphome/const.py
index 6e29667887..95773630d0 100644
--- a/esphome/const.py
+++ b/esphome/const.py
@@ -730,6 +730,7 @@ CONF_RW_PIN = "rw_pin"
 CONF_RX_BUFFER_SIZE = "rx_buffer_size"
 CONF_RX_ONLY = "rx_only"
 CONF_RX_PIN = "rx_pin"
+CONF_RX_QUEUE_LEN = "rx_queue_len"
 CONF_SAFE_MODE = "safe_mode"
 CONF_SAMPLE_RATE = "sample_rate"
 CONF_SAMSUNG = "samsung"
@@ -881,6 +882,7 @@ CONF_TVOC = "tvoc"
 CONF_TX_BUFFER_SIZE = "tx_buffer_size"
 CONF_TX_PIN = "tx_pin"
 CONF_TX_POWER = "tx_power"
+CONF_TX_QUEUE_LEN = "tx_queue_len"
 CONF_TYPE = "type"
 CONF_TYPE_ID = "type_id"
 CONF_UART_ID = "uart_id"