diff --git a/esphome/components/modbus_controller/__init__.py b/esphome/components/modbus_controller/__init__.py
index 1d0f406783..8146124c28 100644
--- a/esphome/components/modbus_controller/__init__.py
+++ b/esphome/components/modbus_controller/__init__.py
@@ -13,6 +13,7 @@ from esphome.const import (
 )
 from esphome.cpp_helpers import logging
 from .const import (
+    CONF_ALLOW_DUPLICATE_COMMANDS,
     CONF_BITMASK,
     CONF_BYTE_OFFSET,
     CONF_COMMAND_THROTTLE,
@@ -126,6 +127,7 @@ CONFIG_SCHEMA = cv.All(
     cv.Schema(
         {
             cv.GenerateID(): cv.declare_id(ModbusController),
+            cv.Optional(CONF_ALLOW_DUPLICATE_COMMANDS, default=False): cv.boolean,
             cv.Optional(
                 CONF_COMMAND_THROTTLE, default="0ms"
             ): cv.positive_time_period_milliseconds,
@@ -253,6 +255,7 @@ async def add_modbus_base_properties(
 
 async def to_code(config):
     var = cg.new_Pvariable(config[CONF_ID])
+    cg.add(var.set_allow_duplicate_commands(config[CONF_ALLOW_DUPLICATE_COMMANDS]))
     cg.add(var.set_command_throttle(config[CONF_COMMAND_THROTTLE]))
     cg.add(var.set_offline_skip_updates(config[CONF_OFFLINE_SKIP_UPDATES]))
     if CONF_SERVER_REGISTERS in config:
diff --git a/esphome/components/modbus_controller/const.py b/esphome/components/modbus_controller/const.py
index 1f5c39895c..5d9a61dee7 100644
--- a/esphome/components/modbus_controller/const.py
+++ b/esphome/components/modbus_controller/const.py
@@ -1,3 +1,4 @@
+CONF_ALLOW_DUPLICATE_COMMANDS = "allow_duplicate_commands"
 CONF_BITMASK = "bitmask"
 CONF_BYTE_OFFSET = "byte_offset"
 CONF_COMMAND_THROTTLE = "command_throttle"
diff --git a/esphome/components/modbus_controller/modbus_controller.cpp b/esphome/components/modbus_controller/modbus_controller.cpp
index 378e5c06c0..8f48847a4f 100644
--- a/esphome/components/modbus_controller/modbus_controller.cpp
+++ b/esphome/components/modbus_controller/modbus_controller.cpp
@@ -175,16 +175,18 @@ void ModbusController::on_register_data(ModbusRegisterType register_type, uint16
 }
 
 void ModbusController::queue_command(const ModbusCommandItem &command) {
-  // check if this command is already qeued.
-  // not very effective but the queue is never really large
-  for (auto &item : command_queue_) {
-    if (item->is_equal(command)) {
-      ESP_LOGW(TAG, "Duplicate modbus command found: type=0x%x address=%u count=%u",
-               static_cast<uint8_t>(command.register_type), command.register_address, command.register_count);
-      // update the payload of the queued command
-      // replaces a previous command
-      item->payload = command.payload;
-      return;
+  if (!this->allow_duplicate_commands_) {
+    // check if this command is already qeued.
+    // not very effective but the queue is never really large
+    for (auto &item : command_queue_) {
+      if (item->is_equal(command)) {
+        ESP_LOGW(TAG, "Duplicate modbus command found: type=0x%x address=%u count=%u",
+                 static_cast<uint8_t>(command.register_type), command.register_address, command.register_count);
+        // update the payload of the queued command
+        // replaces a previous command
+        item->payload = command.payload;
+        return;
+      }
     }
   }
   command_queue_.push_back(make_unique<ModbusCommandItem>(command));
diff --git a/esphome/components/modbus_controller/modbus_controller.h b/esphome/components/modbus_controller/modbus_controller.h
index 3bc11da879..e88f4c07f7 100644
--- a/esphome/components/modbus_controller/modbus_controller.h
+++ b/esphome/components/modbus_controller/modbus_controller.h
@@ -448,6 +448,12 @@ class ModbusController : public PollingComponent, public modbus::ModbusDevice {
   /// incoming queue
   void on_write_register_response(ModbusRegisterType register_type, uint16_t start_address,
                                   const std::vector<uint8_t> &data);
+  /// Allow a duplicate command to be sent
+  void set_allow_duplicate_commands(bool allow_duplicate_commands) {
+    this->allow_duplicate_commands_ = allow_duplicate_commands;
+  }
+  /// get if a duplicate command can be sent
+  bool get_allow_duplicate_commands() { return this->allow_duplicate_commands_; }
   /// called by esphome generated code to set the command_throttle period
   void set_command_throttle(uint16_t command_throttle) { this->command_throttle_ = command_throttle; }
   /// called by esphome generated code to set the offline_skip_updates
@@ -482,6 +488,8 @@ class ModbusController : public PollingComponent, public modbus::ModbusDevice {
   std::list<std::unique_ptr<ModbusCommandItem>> command_queue_;
   /// modbus response data waiting to get processed
   std::queue<std::unique_ptr<ModbusCommandItem>> incoming_queue_;
+  /// if duplicate commands can be sent
+  bool allow_duplicate_commands_;
   /// when was the last send operation
   uint32_t last_command_timestamp_;
   /// min time in ms between sending modbus commands
diff --git a/tests/components/modbus_controller/test.esp32-ard.yaml b/tests/components/modbus_controller/test.esp32-ard.yaml
index 3e022b10ab..b6e38aeb9c 100644
--- a/tests/components/modbus_controller/test.esp32-ard.yaml
+++ b/tests/components/modbus_controller/test.esp32-ard.yaml
@@ -20,6 +20,7 @@ modbus_controller:
   - id: modbus_controller1
     address: 0x2
     modbus_id: mod_bus1
+    allow_duplicate_commands: false
   - id: modbus_controller2
     address: 0x2
     modbus_id: mod_bus2
diff --git a/tests/components/modbus_controller/test.esp32-idf.yaml b/tests/components/modbus_controller/test.esp32-idf.yaml
index c5fe3fd057..d5407ac406 100644
--- a/tests/components/modbus_controller/test.esp32-idf.yaml
+++ b/tests/components/modbus_controller/test.esp32-idf.yaml
@@ -12,3 +12,4 @@ modbus_controller:
   - id: modbus_controller1
     address: 0x2
     modbus_id: mod_bus1
+    allow_duplicate_commands: true