diff --git a/homeassistant/components/roomba/sensor.py b/homeassistant/components/roomba/sensor.py
index 159c883b5c8d..9f06947dc9db 100644
--- a/homeassistant/components/roomba/sensor.py
+++ b/homeassistant/components/roomba/sensor.py
@@ -12,7 +12,13 @@ from homeassistant.components.sensor import (
     SensorEntityDescription,
     SensorStateClass,
 )
-from homeassistant.const import PERCENTAGE, EntityCategory, UnitOfArea, UnitOfTime
+from homeassistant.const import (
+    PERCENTAGE,
+    SIGNAL_STRENGTH_DECIBELS_MILLIWATT,
+    EntityCategory,
+    UnitOfArea,
+    UnitOfTime,
+)
 from homeassistant.core import HomeAssistant
 from homeassistant.helpers.entity_platform import AddConfigEntryEntitiesCallback
 from homeassistant.helpers.typing import StateType
@@ -27,6 +33,11 @@ class RoombaSensorEntityDescription(SensorEntityDescription):
 
     value_fn: Callable[[IRobotEntity], StateType]
 
+    # IRobotEntity.new_state_filter drops messages whose only reported key is
+    # "signal", so that a Wi-Fi update does not wake every entity. Sensors that
+    # actually read "signal" have to opt back in or they never refresh.
+    refresh_on_signal: bool = False
+
 
 DOCK_SENSORS: list[RoombaSensorEntityDescription] = [
     RoombaSensorEntityDescription(
@@ -136,6 +147,16 @@ SENSORS: list[RoombaSensorEntityDescription] = [
         value_fn=lambda self: self.last_mission,
         entity_registry_enabled_default=False,
     ),
+    RoombaSensorEntityDescription(
+        key="rssi",
+        native_unit_of_measurement=SIGNAL_STRENGTH_DECIBELS_MILLIWATT,
+        device_class=SensorDeviceClass.SIGNAL_STRENGTH,
+        state_class=SensorStateClass.MEASUREMENT,
+        entity_category=EntityCategory.DIAGNOSTIC,
+        entity_registry_enabled_default=False,
+        refresh_on_signal=True,
+        value_fn=lambda self: self.vacuum_state.get("signal", {}).get("rssi"),
+    ),
 ]
 
 
@@ -177,6 +198,13 @@ class RoombaSensor(IRobotEntity, SensorEntity):
         super().__init__(roomba, blid)
         self.entity_description = entity_description
 
+    @override
+    def new_state_filter(self, new_state):
+        """Also accept Wi-Fi only messages for sensors that read them."""
+        if self.entity_description.refresh_on_signal and "signal" in new_state:
+            return True
+        return super().new_state_filter(new_state)
+
     @property
     @override
     def unique_id(self) -> str:
diff --git a/tests/components/roomba/conftest.py b/tests/components/roomba/conftest.py
index 7f611c419c69..b5ee56d4789a 100644
--- a/tests/components/roomba/conftest.py
+++ b/tests/components/roomba/conftest.py
@@ -50,6 +50,7 @@ def mock_roomba() -> Generator[AsyncMock]:
                 "softwareVer": "3.2.1",
                 "hardwareRev": "1.0",
                 "bin": {"present": True, "full": False},
+                "signal": {"rssi": -47, "snr": 21, "noise": -68},
             }
         }
     }
diff --git a/tests/components/roomba/snapshots/test_sensor.ambr b/tests/components/roomba/snapshots/test_sensor.ambr
index 04f547cc3713..89b226ff1ef5 100644
--- a/tests/components/roomba/snapshots/test_sensor.ambr
+++ b/tests/components/roomba/snapshots/test_sensor.ambr
@@ -419,6 +419,61 @@
     'state': 'unknown',
   })
 # ---
+# name: test_entities[sensor.test_roomba_signal_strength-entry]
+  EntityRegistryEntrySnapshot({
+    'aliases': list([
+      None,
+    ]),
+    'area_id': None,
+    'capabilities': dict({
+      <SensorEntityCapabilityAttribute.STATE_CLASS: 'state_class'>: <SensorStateClass.MEASUREMENT: 'measurement'>,
+    }),
+    'config_entry_id': <ANY>,
+    'config_subentry_id': <ANY>,
+    'device_class': None,
+    'device_id': <ANY>,
+    'disabled_by': None,
+    'domain': 'sensor',
+    'entity_category': <EntityCategory.DIAGNOSTIC: 'diagnostic'>,
+    'entity_id': 'sensor.test_roomba_signal_strength',
+    'has_entity_name': True,
+    'hidden_by': None,
+    'icon': None,
+    'id': <ANY>,
+    'labels': set({
+    }),
+    'name': None,
+    'object_id_base': 'Signal strength',
+    'options': dict({
+    }),
+    'original_device_class': <SensorDeviceClass.SIGNAL_STRENGTH: 'signal_strength'>,
+    'original_icon': None,
+    'original_name': 'Signal strength',
+    'platform': 'roomba',
+    'previous_unique_id': None,
+    'suggested_object_id': None,
+    'supported_features': 0,
+    'translation_key': None,
+    'unique_id': 'rssi_blid123',
+    'unit_of_measurement': 'dBm',
+  })
+# ---
+# name: test_entities[sensor.test_roomba_signal_strength-state]
+  StateSnapshot({
+    'attributes': ReadOnlyDict({
+      <EntityStateAttribute.DEVICE_CLASS: 'device_class'>: 'signal_strength',
+      <EntityStateAttribute.FRIENDLY_NAME: 'friendly_name'>: 'Test Roomba Signal strength',
+      <SensorEntityCapabilityAttribute.STATE_CLASS: 'state_class'>: <SensorStateClass.MEASUREMENT: 'measurement'>,
+      <EntityStateAttribute.UNIT_OF_MEASUREMENT: 'unit_of_measurement'>: 'dBm',
+    }),
+    'context': <ANY>,
+    'entity_id': 'sensor.test_roomba_signal_strength',
+    'last_changed': <ANY>,
+    'last_reported': <ANY>,
+    'last_updated': <ANY>,
+    'state': '-47',
+  })
+# ---
 # name: test_entities[sensor.test_roomba_successful_missions-entry]
   EntityRegistryEntrySnapshot({
     'aliases': list([
diff --git a/tests/components/roomba/test_sensor.py b/tests/components/roomba/test_sensor.py
index 2b54e468175b..c355fc53b128 100644
--- a/tests/components/roomba/test_sensor.py
+++ b/tests/components/roomba/test_sensor.py
@@ -103,3 +103,35 @@ async def test_robot_without_dock_has_no_dock_sensor(
             await hass.async_block_till_done()
 
     assert len(_dock_tank_level_entities(hass)) == 1
+
+
+async def test_rssi_refreshes_on_wifi_only_message(
+    hass: HomeAssistant,
+    mock_config_entry: MockConfigEntry,
+    mock_roomba: AsyncMock,
+    entity_registry: er.EntityRegistry,
+) -> None:
+    """Test the RSSI sensor refreshes on a message that only carries signal.
+
+    IRobotEntity.new_state_filter drops messages whose only reported key is
+    "signal" so a Wi-Fi update does not wake every entity. The RSSI sensor
+    reads exactly that key, so it has to opt back in or it never updates.
+    """
+    entity_id = "sensor.test_roomba_signal_strength"
+    with patch("homeassistant.components.roomba.PLATFORMS", [Platform.SENSOR]):
+        mock_config_entry.add_to_hass(hass)
+        await hass.config_entries.async_setup(mock_config_entry.entry_id)
+        await hass.async_block_till_done()
+
+    entity_registry.async_update_entity(entity_id, disabled_by=None)
+    await hass.config_entries.async_reload(mock_config_entry.entry_id)
+    await hass.async_block_till_done()
+    assert hass.states.get(entity_id).state == "-47"
+
+    # A Wi-Fi only update, which is what the robot sends most often.
+    mock_roomba.master_state["state"]["reported"]["signal"]["rssi"] = -62
+    for call in mock_roomba.register_on_message_callback.call_args_list:
+        call.args[0]({"state": {"reported": {"signal": {"rssi": -62}}}})
+    await hass.async_block_till_done()
+
+    assert hass.states.get(entity_id).state == "-62"