diff --git a/esphome/components/mdns/__init__.py b/esphome/components/mdns/__init__.py
index 420e6a60e3..0d535d6970 100644
--- a/esphome/components/mdns/__init__.py
+++ b/esphome/components/mdns/__init__.py
@@ -163,7 +163,7 @@ async def to_code(config):
             cg.add_library("LEAmDNS", None)
 
     if CORE.is_esp32:
-        add_idf_component(name="espressif/mdns", ref="1.9.1")
+        add_idf_component(name="espressif/mdns", ref="1.10.0")
 
     cg.add_define("USE_MDNS")
 
diff --git a/esphome/idf_component.yml b/esphome/idf_component.yml
index 37bda65afd..550e7b9af7 100644
--- a/esphome/idf_component.yml
+++ b/esphome/idf_component.yml
@@ -10,7 +10,7 @@ dependencies:
   espressif/esp32-camera:
     version: 2.1.1
   espressif/mdns:
-    version: 1.9.1
+    version: 1.10.0
   espressif/esp_wifi_remote:
     version: 1.3.2
     rules: