diff --git a/esphome/components/wifi/wifi_component.cpp b/esphome/components/wifi/wifi_component.cpp
index 38d4fc44b5..8812f1becf 100644
--- a/esphome/components/wifi/wifi_component.cpp
+++ b/esphome/components/wifi/wifi_component.cpp
@@ -382,15 +382,11 @@ WiFiAP WiFiComponent::build_selected_ap_() const {
   // Therefore scan_result_[0] is guaranteed to match sta_[selected_sta_index_]
   if (!this->scan_result_.empty()) {
     const WiFiScanResult &scan = this->scan_result_[0];
-
-    if (!params.get_hidden()) {
-      // Selected network is visible, override with data from the scan.
-      // Limit the connect params to only connect to exactly this network
-      // (network selection is done during scan phase).
-      params.set_ssid(scan.get_ssid());
-      params.set_bssid(scan.get_bssid());
-      params.set_channel(scan.get_channel());
-    }
+    // If we have scan data, the network is visible (not hidden) - use it regardless of config
+    // Hidden networks don't appear in scan results, so presence of scan data is ground truth
+    params.set_ssid(scan.get_ssid());
+    params.set_bssid(scan.get_bssid());
+    params.set_channel(scan.get_channel());
   }
 
   return params;