diff --git a/esphome/components/mpu6050/mpu6050.cpp b/esphome/components/mpu6050/mpu6050.cpp
index 51e3ec2383..64fcd3a2a8 100644
--- a/esphome/components/mpu6050/mpu6050.cpp
+++ b/esphome/components/mpu6050/mpu6050.cpp
@@ -77,7 +77,7 @@ void MPU6050Component::setup() {
   accel_config &= 0b11100111;
   accel_config |= (MPU6050_RANGE_2G << 3);
   ESP_LOGV(TAG, "    Output accel_config: 0b" BYTE_TO_BINARY_PATTERN, BYTE_TO_BINARY(accel_config));
-  if (!this->write_byte(MPU6050_REGISTER_GYRO_CONFIG, gyro_config)) {
+  if (!this->write_byte(MPU6050_REGISTER_ACCEL_CONFIG, accel_config)) {
     this->mark_failed();
     return;
   }