diff --git a/esphome/components/esp32_can/canbus.py b/esphome/components/esp32_can/canbus.py
index dfa98b2ef..acc3785f2 100644
--- a/esphome/components/esp32_can/canbus.py
+++ b/esphome/components/esp32_can/canbus.py
@@ -10,6 +10,7 @@ from esphome.components.esp32.const import (
     VARIANT_ESP32C3,
     VARIANT_ESP32C6,
     VARIANT_ESP32H2,
+    VARIANT_ESP32P4,
     VARIANT_ESP32S2,
     VARIANT_ESP32S3,
 )
@@ -59,6 +60,7 @@ CAN_SPEEDS_ESP32_S3 = {**CAN_SPEEDS_ESP32_S2}
 CAN_SPEEDS_ESP32_C3 = {**CAN_SPEEDS_ESP32_S2}
 CAN_SPEEDS_ESP32_C6 = {**CAN_SPEEDS_ESP32_S2}
 CAN_SPEEDS_ESP32_H2 = {**CAN_SPEEDS_ESP32_S2}
+CAN_SPEEDS_ESP32_P4 = {**CAN_SPEEDS_ESP32_S2}
 
 CAN_SPEEDS = {
     VARIANT_ESP32: CAN_SPEEDS_ESP32,
@@ -67,6 +69,7 @@ CAN_SPEEDS = {
     VARIANT_ESP32C3: CAN_SPEEDS_ESP32_C3,
     VARIANT_ESP32C6: CAN_SPEEDS_ESP32_C6,
     VARIANT_ESP32H2: CAN_SPEEDS_ESP32_H2,
+    VARIANT_ESP32P4: CAN_SPEEDS_ESP32_P4,
 }
 
 
diff --git a/esphome/components/esp32_can/esp32_can.cpp b/esphome/components/esp32_can/esp32_can.cpp
index cdef7b193..f9b63b8eb 100644
--- a/esphome/components/esp32_can/esp32_can.cpp
+++ b/esphome/components/esp32_can/esp32_can.cpp
@@ -17,7 +17,7 @@ static const char *const TAG = "esp32_can";
 static bool get_bitrate(canbus::CanSpeed bitrate, twai_timing_config_t *t_config) {
   switch (bitrate) {
 #if defined(USE_ESP32_VARIANT_ESP32S2) || defined(USE_ESP32_VARIANT_ESP32S3) || defined(USE_ESP32_VARIANT_ESP32C3) || \
-    defined(USE_ESP32_VARIANT_ESP32C6) || defined(USE_ESP32_VARIANT_ESP32H2)
+    defined(USE_ESP32_VARIANT_ESP32C6) || defined(USE_ESP32_VARIANT_ESP32H2) || defined(USE_ESP32_VARIANT_ESP32P4)
     case canbus::CAN_1KBPS:
       *t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_1KBITS();
       return true;