diff --git a/esphome/components/nfc/nfc.cpp b/esphome/components/nfc/nfc.cpp
index b7c7215028..7225e373b3 100644
--- a/esphome/components/nfc/nfc.cpp
+++ b/esphome/components/nfc/nfc.cpp
@@ -54,7 +54,7 @@ uint8_t get_mifare_classic_ndef_start_index(std::vector<uint8_t> &data) {
 
 bool decode_mifare_classic_tlv(std::vector<uint8_t> &data, uint32_t &message_length, uint8_t &message_start_index) {
   uint8_t i = get_mifare_classic_ndef_start_index(data);
-  if (i < 0 || data[i] != 0x03) {
+  if (data[i] != 0x03) {
     ESP_LOGE(TAG, "Error, Can't decode message length.");
     return false;
   }
diff --git a/esphome/components/pn532/pn532.h b/esphome/components/pn532/pn532.h
index 73b349e328..8ae215dfd9 100644
--- a/esphome/components/pn532/pn532.h
+++ b/esphome/components/pn532/pn532.h
@@ -7,6 +7,7 @@
 #include "esphome/components/nfc/nfc.h"
 #include "esphome/components/nfc/automation.h"
 
+#include <cinttypes>
 #include <vector>
 
 namespace esphome {
@@ -74,10 +75,11 @@ class PN532 : public PollingComponent {
   bool write_mifare_classic_tag_(std::vector<uint8_t> &uid, nfc::NdefMessage *message);
 
   std::unique_ptr<nfc::NfcTag> read_mifare_ultralight_tag_(std::vector<uint8_t> &uid);
-  bool read_mifare_ultralight_page_(uint8_t page_num, std::vector<uint8_t> &data);
-  bool is_mifare_ultralight_formatted_();
+  bool read_mifare_ultralight_bytes_(uint8_t start_page, uint16_t num_bytes, std::vector<uint8_t> &data);
+  bool is_mifare_ultralight_formatted_(const std::vector<uint8_t> &page_3_to_6);
   uint16_t read_mifare_ultralight_capacity_();
-  bool find_mifare_ultralight_ndef_(uint8_t &message_length, uint8_t &message_start_index);
+  bool find_mifare_ultralight_ndef_(const std::vector<uint8_t> &page_3_to_6, uint8_t &message_length,
+                                    uint8_t &message_start_index);
   bool write_mifare_ultralight_page_(uint8_t page_num, std::vector<uint8_t> &write_data);
   bool write_mifare_ultralight_tag_(std::vector<uint8_t> &uid, nfc::NdefMessage *message);
   bool clean_mifare_ultralight_();
diff --git a/esphome/components/pn532/pn532_mifare_ultralight.cpp b/esphome/components/pn532/pn532_mifare_ultralight.cpp
index 1b91ae919e..b08a7336c7 100644
--- a/esphome/components/pn532/pn532_mifare_ultralight.cpp
+++ b/esphome/components/pn532/pn532_mifare_ultralight.cpp
@@ -9,93 +9,104 @@ namespace pn532 {
 static const char *const TAG = "pn532.mifare_ultralight";
 
 std::unique_ptr<nfc::NfcTag> PN532::read_mifare_ultralight_tag_(std::vector<uint8_t> &uid) {
-  if (!this->is_mifare_ultralight_formatted_()) {
-    ESP_LOGD(TAG, "Not NDEF formatted");
+  std::vector<uint8_t> data;
+  // pages 3 to 6 contain various info we are interested in -- do one read to grab it all
+  if (!this->read_mifare_ultralight_bytes_(3, nfc::MIFARE_ULTRALIGHT_PAGE_SIZE * nfc::MIFARE_ULTRALIGHT_READ_SIZE,
+                                           data)) {
+    return make_unique<nfc::NfcTag>(uid, nfc::NFC_FORUM_TYPE_2);
+  }
+
+  if (!this->is_mifare_ultralight_formatted_(data)) {
+    ESP_LOGW(TAG, "Not NDEF formatted");
     return make_unique<nfc::NfcTag>(uid, nfc::NFC_FORUM_TYPE_2);
   }
 
   uint8_t message_length;
   uint8_t message_start_index;
-  if (!this->find_mifare_ultralight_ndef_(message_length, message_start_index)) {
+  if (!this->find_mifare_ultralight_ndef_(data, message_length, message_start_index)) {
+    ESP_LOGW(TAG, "Couldn't find NDEF message");
     return make_unique<nfc::NfcTag>(uid, nfc::NFC_FORUM_TYPE_2);
   }
-  ESP_LOGVV(TAG, "message length: %d, start: %d", message_length, message_start_index);
+  ESP_LOGVV(TAG, "NDEF message length: %u, start: %u", message_length, message_start_index);
 
   if (message_length == 0) {
     return make_unique<nfc::NfcTag>(uid, nfc::NFC_FORUM_TYPE_2);
   }
-  std::vector<uint8_t> data;
-  for (uint8_t page = nfc::MIFARE_ULTRALIGHT_DATA_START_PAGE; page < nfc::MIFARE_ULTRALIGHT_MAX_PAGE; page++) {
-    std::vector<uint8_t> page_data;
-    if (!this->read_mifare_ultralight_page_(page, page_data)) {
-      ESP_LOGE(TAG, "Error reading page %d", page);
+  // we already read pages 3-6 earlier -- pick up where we left off so we're not re-reading pages
+  const uint8_t read_length = message_length + message_start_index > 12 ? message_length + message_start_index - 12 : 0;
+  if (read_length) {
+    if (!read_mifare_ultralight_bytes_(nfc::MIFARE_ULTRALIGHT_DATA_START_PAGE + 3, read_length, data)) {
+      ESP_LOGE(TAG, "Error reading tag data");
       return make_unique<nfc::NfcTag>(uid, nfc::NFC_FORUM_TYPE_2);
     }
-    data.insert(data.end(), page_data.begin(), page_data.end());
-
-    if (data.size() >= (message_length + message_start_index))
-      break;
   }
-
-  data.erase(data.begin(), data.begin() + message_start_index);
-  data.erase(data.begin() + message_length, data.end());
+  // we need to trim off page 3 as well as any bytes ahead of message_start_index
+  data.erase(data.begin(), data.begin() + message_start_index + nfc::MIFARE_ULTRALIGHT_PAGE_SIZE);
 
   return make_unique<nfc::NfcTag>(uid, nfc::NFC_FORUM_TYPE_2, data);
 }
 
-bool PN532::read_mifare_ultralight_page_(uint8_t page_num, std::vector<uint8_t> &data) {
-  if (!this->write_command_({
-          PN532_COMMAND_INDATAEXCHANGE,
-          0x01,  // One card
-          nfc::MIFARE_CMD_READ,
-          page_num,
-      })) {
-    return false;
+bool PN532::read_mifare_ultralight_bytes_(uint8_t start_page, uint16_t num_bytes, std::vector<uint8_t> &data) {
+  const uint8_t read_increment = nfc::MIFARE_ULTRALIGHT_READ_SIZE * nfc::MIFARE_ULTRALIGHT_PAGE_SIZE;
+  std::vector<uint8_t> response;
+
+  for (uint8_t i = 0; i * read_increment < num_bytes; i++) {
+    if (!this->write_command_({
+            PN532_COMMAND_INDATAEXCHANGE,
+            0x01,  // One card
+            nfc::MIFARE_CMD_READ,
+            uint8_t(i * nfc::MIFARE_ULTRALIGHT_READ_SIZE + start_page),
+        })) {
+      return false;
+    }
+
+    if (!this->read_response(PN532_COMMAND_INDATAEXCHANGE, response) || response[0] != 0x00) {
+      return false;
+    }
+    uint16_t bytes_offset = (i + 1) * read_increment;
+    auto pages_in_end_itr = bytes_offset <= num_bytes ? response.end() : response.end() - (bytes_offset - num_bytes);
+
+    if ((pages_in_end_itr > response.begin()) && (pages_in_end_itr <= response.end())) {
+      data.insert(data.end(), response.begin() + 1, pages_in_end_itr);
+    }
   }
 
-  if (!this->read_response(PN532_COMMAND_INDATAEXCHANGE, data) || data[0] != 0x00) {
-    return false;
-  }
-  data.erase(data.begin());
-  // We only want 1 page of data but the PN532 returns 4 at once.
-  data.erase(data.begin() + 4, data.end());
-
-  ESP_LOGVV(TAG, "Pages %d-%d: %s", page_num, page_num + 4, nfc::format_bytes(data).c_str());
+  ESP_LOGVV(TAG, "Data read: %s", nfc::format_bytes(data).c_str());
 
   return true;
 }
 
-bool PN532::is_mifare_ultralight_formatted_() {
-  std::vector<uint8_t> data;
-  if (this->read_mifare_ultralight_page_(4, data)) {
-    return !(data[0] == 0xFF && data[1] == 0xFF && data[2] == 0xFF && data[3] == 0xFF);
-  }
-  return true;
+bool PN532::is_mifare_ultralight_formatted_(const std::vector<uint8_t> &page_3_to_6) {
+  const uint8_t p4_offset = nfc::MIFARE_ULTRALIGHT_PAGE_SIZE;  // page 4 will begin 4 bytes into the vector
+
+  return (page_3_to_6.size() > p4_offset + 3) &&
+         !((page_3_to_6[p4_offset + 0] == 0xFF) && (page_3_to_6[p4_offset + 1] == 0xFF) &&
+           (page_3_to_6[p4_offset + 2] == 0xFF) && (page_3_to_6[p4_offset + 3] == 0xFF));
 }
 
 uint16_t PN532::read_mifare_ultralight_capacity_() {
   std::vector<uint8_t> data;
-  if (this->read_mifare_ultralight_page_(3, data)) {
+  if (this->read_mifare_ultralight_bytes_(3, nfc::MIFARE_ULTRALIGHT_PAGE_SIZE, data)) {
+    ESP_LOGV(TAG, "Tag capacity is %u bytes", data[2] * 8U);
     return data[2] * 8U;
   }
   return 0;
 }
 
-bool PN532::find_mifare_ultralight_ndef_(uint8_t &message_length, uint8_t &message_start_index) {
-  std::vector<uint8_t> data;
-  for (int page = 4; page < 6; page++) {
-    std::vector<uint8_t> page_data;
-    if (!this->read_mifare_ultralight_page_(page, page_data)) {
-      return false;
-    }
-    data.insert(data.end(), page_data.begin(), page_data.end());
+bool PN532::find_mifare_ultralight_ndef_(const std::vector<uint8_t> &page_3_to_6, uint8_t &message_length,
+                                         uint8_t &message_start_index) {
+  const uint8_t p4_offset = nfc::MIFARE_ULTRALIGHT_PAGE_SIZE;  // page 4 will begin 4 bytes into the vector
+
+  if (!(page_3_to_6.size() > p4_offset + 5)) {
+    return false;
   }
-  if (data[0] == 0x03) {
-    message_length = data[1];
+
+  if (page_3_to_6[p4_offset + 0] == 0x03) {
+    message_length = page_3_to_6[p4_offset + 1];
     message_start_index = 2;
     return true;
-  } else if (data[5] == 0x03) {
-    message_length = data[6];
+  } else if (page_3_to_6[p4_offset + 5] == 0x03) {
+    message_length = page_3_to_6[p4_offset + 6];
     message_start_index = 7;
     return true;
   }
@@ -111,7 +122,7 @@ bool PN532::write_mifare_ultralight_tag_(std::vector<uint8_t> &uid, nfc::NdefMes
   uint32_t buffer_length = nfc::get_mifare_ultralight_buffer_size(message_length);
 
   if (buffer_length > capacity) {
-    ESP_LOGE(TAG, "Message length exceeds tag capacity %d > %d", buffer_length, capacity);
+    ESP_LOGE(TAG, "Message length exceeds tag capacity %" PRIu32 " > %" PRIu32, buffer_length, capacity);
     return false;
   }
 
@@ -164,13 +175,13 @@ bool PN532::write_mifare_ultralight_page_(uint8_t page_num, std::vector<uint8_t>
   });
   data.insert(data.end(), write_data.begin(), write_data.end());
   if (!this->write_command_(data)) {
-    ESP_LOGE(TAG, "Error writing page %d", page_num);
+    ESP_LOGE(TAG, "Error writing page %u", page_num);
     return false;
   }
 
   std::vector<uint8_t> response;
   if (!this->read_response(PN532_COMMAND_INDATAEXCHANGE, response)) {
-    ESP_LOGE(TAG, "Error writing page %d", page_num);
+    ESP_LOGE(TAG, "Error writing page %u", page_num);
     return false;
   }