diff --git a/esphome/components/esp32_ble_server/__init__.py b/esphome/components/esp32_ble_server/__init__.py
index a7e2522fac..cb494ed1bc 100644
--- a/esphome/components/esp32_ble_server/__init__.py
+++ b/esphome/components/esp32_ble_server/__init__.py
@@ -527,7 +527,7 @@ async def to_code_characteristic(service_var, char_conf):
                 action_conf,
                 char_conf[CONF_CHAR_VALUE_ACTION_ID_],
                 cg.TemplateArguments(),
-                {},
+                [],
             )
             cg.add(value_action.play())
         else:
diff --git a/esphome/components/esp32_ble_server/ble_characteristic.cpp b/esphome/components/esp32_ble_server/ble_characteristic.cpp
index 0482848ea0..a1b1ff94bb 100644
--- a/esphome/components/esp32_ble_server/ble_characteristic.cpp
+++ b/esphome/components/esp32_ble_server/ble_characteristic.cpp
@@ -246,9 +246,27 @@ void BLECharacteristic::gatts_event_handler(esp_gatts_cb_event_t event, esp_gatt
       if (this->handle_ != param->write.handle)
         break;
 
+      esp_gatt_status_t status = ESP_GATT_OK;
+
       if (param->write.is_prep) {
-        this->value_.insert(this->value_.end(), param->write.value, param->write.value + param->write.len);
-        this->write_event_ = true;
+        const size_t offset = param->write.offset;
+        const size_t write_len = param->write.len;
+        const size_t new_size = offset + write_len;
+        // Clean the buffer on the first prepared write event
+        if (offset == 0) {
+          this->value_.clear();
+        }
+
+        if (offset != this->value_.size()) {
+          status = ESP_GATT_INVALID_OFFSET;
+        } else if (new_size > ESP_GATT_MAX_ATTR_LEN) {
+          status = ESP_GATT_INVALID_ATTR_LEN;
+        } else {
+          if (this->value_.size() < new_size) {
+            this->value_.resize(new_size);
+          }
+          memcpy(this->value_.data() + offset, param->write.value, write_len);
+        }
       } else {
         this->set_value(ByteBuffer::wrap(param->write.value, param->write.len));
       }
@@ -263,7 +281,7 @@ void BLECharacteristic::gatts_event_handler(esp_gatts_cb_event_t event, esp_gatt
         memcpy(response.attr_value.value, param->write.value, param->write.len);
 
         esp_err_t err =
-            esp_ble_gatts_send_response(gatts_if, param->write.conn_id, param->write.trans_id, ESP_GATT_OK, &response);
+            esp_ble_gatts_send_response(gatts_if, param->write.conn_id, param->write.trans_id, status, &response);
 
         if (err != ESP_OK) {
           ESP_LOGE(TAG, "esp_ble_gatts_send_response failed: %d", err);
@@ -280,9 +298,9 @@ void BLECharacteristic::gatts_event_handler(esp_gatts_cb_event_t event, esp_gatt
     }
 
     case ESP_GATTS_EXEC_WRITE_EVT: {
-      if (!this->write_event_)
+      // BLE stack will guarantee that ESP_GATTS_EXEC_WRITE_EVT is only received after prepared writes
+      if (this->value_.empty())
         break;
-      this->write_event_ = false;
       if (param->exec_write.exec_write_flag == ESP_GATT_PREP_WRITE_EXEC) {
         if (this->on_write_callback_) {
           (*this->on_write_callback_)(this->value_, param->exec_write.conn_id);
diff --git a/esphome/components/esp32_ble_server/ble_characteristic.h b/esphome/components/esp32_ble_server/ble_characteristic.h
index b913915789..c2cdb1660c 100644
--- a/esphome/components/esp32_ble_server/ble_characteristic.h
+++ b/esphome/components/esp32_ble_server/ble_characteristic.h
@@ -77,7 +77,6 @@ class BLECharacteristic {
   }
 
  protected:
-  bool write_event_{false};
   BLEService *service_{};
   ESPBTUUID uuid_;
   esp_gatt_char_prop_t properties_;