diff --git a/esphome/components/modbus_controller/switch/modbus_switch.cpp b/esphome/components/modbus_controller/switch/modbus_switch.cpp
index dd12e2867f..3a679fbeb8 100644
--- a/esphome/components/modbus_controller/switch/modbus_switch.cpp
+++ b/esphome/components/modbus_controller/switch/modbus_switch.cpp
@@ -6,7 +6,17 @@ namespace modbus_controller {
 
 static const char *const TAG = "modbus_controller.switch";
 
-void ModbusSwitch::setup() {}
+void ModbusSwitch::setup() {
+  optional<bool> initial_state = Switch::get_initial_state_with_restore_mode();
+  if (initial_state.has_value()) {
+    // if it has a value, restore_mode is not "DISABLED", therefore act on the switch:
+    if (initial_state.value()) {
+      this->turn_on();
+    } else {
+      this->turn_off();
+    }
+  }
+}
 void ModbusSwitch::dump_config() { LOG_SWITCH(TAG, "Modbus Controller Switch", this); }
 
 void ModbusSwitch::parse_and_publish(const std::vector<uint8_t> &data) {