diff --git a/esphome/components/nextion/automation.h b/esphome/components/nextion/automation.h
index 210d7b2e2b..f51fe6b4f8 100644
--- a/esphome/components/nextion/automation.h
+++ b/esphome/components/nextion/automation.h
@@ -33,5 +33,14 @@ class PageTrigger : public Trigger<uint8_t> {
   }
 };
 
+class TouchTrigger : public Trigger<uint8_t, uint8_t, bool> {
+ public:
+  explicit TouchTrigger(Nextion *nextion) {
+    nextion->add_touch_event_callback([this](uint8_t page_id, uint8_t component_id, bool touch_event) {
+      this->trigger(page_id, component_id, touch_event);
+    });
+  }
+};
+
 }  // namespace nextion
 }  // namespace esphome
diff --git a/esphome/components/nextion/display.py b/esphome/components/nextion/display.py
index 1ac0364b8b..92e85ad28a 100644
--- a/esphome/components/nextion/display.py
+++ b/esphome/components/nextion/display.py
@@ -7,6 +7,7 @@ from esphome.const import (
     CONF_LAMBDA,
     CONF_BRIGHTNESS,
     CONF_TRIGGER_ID,
+    CONF_ON_TOUCH,
 )
 from esphome.core import CORE
 from . import Nextion, nextion_ns, nextion_ref
@@ -31,6 +32,7 @@ SetupTrigger = nextion_ns.class_("SetupTrigger", automation.Trigger.template())
 SleepTrigger = nextion_ns.class_("SleepTrigger", automation.Trigger.template())
 WakeTrigger = nextion_ns.class_("WakeTrigger", automation.Trigger.template())
 PageTrigger = nextion_ns.class_("PageTrigger", automation.Trigger.template())
+TouchTrigger = nextion_ns.class_("TouchTrigger", automation.Trigger.template())
 
 CONFIG_SCHEMA = (
     display.BASIC_DISPLAY_SCHEMA.extend(
@@ -58,6 +60,11 @@ CONFIG_SCHEMA = (
                     cv.GenerateID(CONF_TRIGGER_ID): cv.declare_id(PageTrigger),
                 }
             ),
+            cv.Optional(CONF_ON_TOUCH): automation.validate_automation(
+                {
+                    cv.GenerateID(CONF_TRIGGER_ID): cv.declare_id(TouchTrigger),
+                }
+            ),
             cv.Optional(CONF_TOUCH_SLEEP_TIMEOUT): cv.int_range(min=3, max=65535),
             cv.Optional(CONF_WAKE_UP_PAGE): cv.positive_int,
             cv.Optional(CONF_START_UP_PAGE): cv.positive_int,
@@ -119,3 +126,15 @@ async def to_code(config):
     for conf in config.get(CONF_ON_PAGE, []):
         trigger = cg.new_Pvariable(conf[CONF_TRIGGER_ID], var)
         await automation.build_automation(trigger, [(cg.uint8, "x")], conf)
+
+    for conf in config.get(CONF_ON_TOUCH, []):
+        trigger = cg.new_Pvariable(conf[CONF_TRIGGER_ID], var)
+        await automation.build_automation(
+            trigger,
+            [
+                (cg.uint8, "page_id"),
+                (cg.uint8, "component_id"),
+                (cg.bool_, "touch_event"),
+            ],
+            conf,
+        )
diff --git a/esphome/components/nextion/nextion.cpp b/esphome/components/nextion/nextion.cpp
index 02ba94fcab..fcc0d97655 100644
--- a/esphome/components/nextion/nextion.cpp
+++ b/esphome/components/nextion/nextion.cpp
@@ -167,6 +167,10 @@ void Nextion::add_new_page_callback(std::function<void(uint8_t)> &&callback) {
   this->page_callback_.add(std::move(callback));
 }
 
+void Nextion::add_touch_event_callback(std::function<void(uint8_t, uint8_t, bool)> &&callback) {
+  this->touch_callback_.add(std::move(callback));
+}
+
 void Nextion::update_all_components() {
   if ((!this->is_setup() && !this->ignore_is_setup_) || this->is_sleeping())
     return;
@@ -440,6 +444,7 @@ void Nextion::process_nextion_commands_() {
         for (auto *touch : this->touch_) {
           touch->process_touch(page_id, component_id, touch_event != 0);
         }
+        this->touch_callback_.call(page_id, component_id, touch_event != 0);
         break;
       }
       case 0x66: {  // Nextion initiated new page event return data.
diff --git a/esphome/components/nextion/nextion.h b/esphome/components/nextion/nextion.h
index f3a13d2170..a90c91db8a 100644
--- a/esphome/components/nextion/nextion.h
+++ b/esphome/components/nextion/nextion.h
@@ -732,6 +732,12 @@ class Nextion : public NextionBase, public PollingComponent, public uart::UARTDe
    */
   void add_new_page_callback(std::function<void(uint8_t)> &&callback);
 
+  /** Add a callback to be notified when Nextion has a touch event.
+   *
+   * @param callback The void() callback.
+   */
+  void add_touch_event_callback(std::function<void(uint8_t, uint8_t, bool)> &&callback);
+
   void update_all_components();
 
   /**
@@ -885,6 +891,7 @@ class Nextion : public NextionBase, public PollingComponent, public uart::UARTDe
   CallbackManager<void()> sleep_callback_{};
   CallbackManager<void()> wake_callback_{};
   CallbackManager<void(uint8_t)> page_callback_{};
+  CallbackManager<void(uint8_t, uint8_t, bool)> touch_callback_{};
 
   optional<nextion_writer_t> writer_;
   float brightness_{1.0};