diff --git a/esphome/components/stepper/__init__.py b/esphome/components/stepper/__init__.py
index 41b1db7df2..54f6aa4205 100644
--- a/esphome/components/stepper/__init__.py
+++ b/esphome/components/stepper/__init__.py
@@ -21,6 +21,8 @@ Stepper = stepper_ns.class_("Stepper")
 SetTargetAction = stepper_ns.class_("SetTargetAction", automation.Action)
 ReportPositionAction = stepper_ns.class_("ReportPositionAction", automation.Action)
 SetSpeedAction = stepper_ns.class_("SetSpeedAction", automation.Action)
+SetAccelerationAction = stepper_ns.class_("SetAccelerationAction", automation.Action)
+SetDecelerationAction = stepper_ns.class_("SetDecelerationAction", automation.Action)
 
 
 def validate_acceleration(value):
@@ -138,11 +140,47 @@ async def stepper_report_position_to_code(config, action_id, template_arg, args)
 async def stepper_set_speed_to_code(config, action_id, template_arg, args):
     paren = await cg.get_variable(config[CONF_ID])
     var = cg.new_Pvariable(action_id, template_arg, paren)
-    template_ = await cg.templatable(config[CONF_SPEED], args, cg.int32)
+    template_ = await cg.templatable(config[CONF_SPEED], args, cg.float_)
     cg.add(var.set_speed(template_))
     return var
 
 
+@automation.register_action(
+    "stepper.set_acceleration",
+    SetAccelerationAction,
+    cv.Schema(
+        {
+            cv.Required(CONF_ID): cv.use_id(Stepper),
+            cv.Required(CONF_ACCELERATION): cv.templatable(validate_acceleration),
+        }
+    ),
+)
+async def stepper_set_acceleration_to_code(config, action_id, template_arg, args):
+    paren = await cg.get_variable(config[CONF_ID])
+    var = cg.new_Pvariable(action_id, template_arg, paren)
+    template_ = await cg.templatable(config[CONF_ACCELERATION], args, cg.float_)
+    cg.add(var.set_acceleration(template_))
+    return var
+
+
+@automation.register_action(
+    "stepper.set_deceleration",
+    SetDecelerationAction,
+    cv.Schema(
+        {
+            cv.Required(CONF_ID): cv.use_id(Stepper),
+            cv.Required(CONF_DECELERATION): cv.templatable(validate_acceleration),
+        }
+    ),
+)
+async def stepper_set_deceleration_to_code(config, action_id, template_arg, args):
+    paren = await cg.get_variable(config[CONF_ID])
+    var = cg.new_Pvariable(action_id, template_arg, paren)
+    template_ = await cg.templatable(config[CONF_DECELERATION], args, cg.float_)
+    cg.add(var.set_deceleration(template_))
+    return var
+
+
 @coroutine_with_priority(100.0)
 async def to_code(config):
     cg.add_global(stepper_ns.using)
diff --git a/esphome/components/stepper/stepper.h b/esphome/components/stepper/stepper.h
index 33777dce83..560362e4d0 100644
--- a/esphome/components/stepper/stepper.h
+++ b/esphome/components/stepper/stepper.h
@@ -77,5 +77,35 @@ template<typename... Ts> class SetSpeedAction : public Action<Ts...> {
   Stepper *parent_;
 };
 
+template<typename... Ts> class SetAccelerationAction : public Action<Ts...> {
+ public:
+  explicit SetAccelerationAction(Stepper *parent) : parent_(parent) {}
+
+  TEMPLATABLE_VALUE(float, acceleration);
+
+  void play(Ts... x) override {
+    float acceleration = this->acceleration_.value(x...);
+    this->parent_->set_acceleration(acceleration);
+  }
+
+ protected:
+  Stepper *parent_;
+};
+
+template<typename... Ts> class SetDecelerationAction : public Action<Ts...> {
+ public:
+  explicit SetDecelerationAction(Stepper *parent) : parent_(parent) {}
+
+  TEMPLATABLE_VALUE(float, deceleration);
+
+  void play(Ts... x) override {
+    float deceleration = this->deceleration_.value(x...);
+    this->parent_->set_deceleration(deceleration);
+  }
+
+ protected:
+  Stepper *parent_;
+};
+
 }  // namespace stepper
 }  // namespace esphome