diff --git a/esphome/components/rp2040_pwm/rp2040_pwm.cpp b/esphome/components/rp2040_pwm/rp2040_pwm.cpp
index 664a3734f7..3c5591885e 100644
--- a/esphome/components/rp2040_pwm/rp2040_pwm.cpp
+++ b/esphome/components/rp2040_pwm/rp2040_pwm.cpp
@@ -9,6 +9,7 @@
 #include <hardware/clocks.h>
 #include <hardware/gpio.h>
 #include <hardware/pwm.h>
+#include <cmath>
 
 namespace esphome {
 namespace rp2040_pwm {
@@ -23,8 +24,14 @@ void RP2040PWM::setup() {
 
 void RP2040PWM::setup_pwm_() {
   pwm_config config = pwm_get_default_config();
-  pwm_config_set_clkdiv(&config, clock_get_hz(clk_sys) / (255.0f * this->frequency_));
-  pwm_config_set_wrap(&config, 254);
+
+  uint32_t clock = clock_get_hz(clk_sys);
+  float divider = ceil(clock / (4096 * this->frequency_)) / 16.0f;
+  uint16_t wrap = clock / divider / this->frequency_ - 1;
+  this->wrap_ = wrap;
+
+  pwm_config_set_clkdiv(&config, divider);
+  pwm_config_set_wrap(&config, wrap);
   pwm_init(pwm_gpio_to_slice_num(this->pin_->get_pin()), &config, true);
 }
 
@@ -48,7 +55,7 @@ void HOT RP2040PWM::write_state(float state) {
   }
 
   gpio_set_function(this->pin_->get_pin(), GPIO_FUNC_PWM);
-  pwm_set_gpio_level(this->pin_->get_pin(), state * 255.0f);
+  pwm_set_gpio_level(this->pin_->get_pin(), state * this->wrap_);
 }
 
 }  // namespace rp2040_pwm
diff --git a/esphome/components/rp2040_pwm/rp2040_pwm.h b/esphome/components/rp2040_pwm/rp2040_pwm.h
index 9c88826ae9..e499e72b06 100644
--- a/esphome/components/rp2040_pwm/rp2040_pwm.h
+++ b/esphome/components/rp2040_pwm/rp2040_pwm.h
@@ -34,6 +34,7 @@ class RP2040PWM : public output::FloatOutput, public Component {
 
   InternalGPIOPin *pin_;
   float frequency_{1000.0};
+  uint16_t wrap_{65535};
   /// Cache last output level for dynamic frequency updating
   float last_output_{0.0};
   bool frequency_changed_{false};