diff --git a/homeassistant/components/mqtt/binary_sensor.py b/homeassistant/components/mqtt/binary_sensor.py
index 7ab2e9ebf90e6b..a89fb8a22fc57a 100644
--- a/homeassistant/components/mqtt/binary_sensor.py
+++ b/homeassistant/components/mqtt/binary_sensor.py
@@ -42,6 +42,7 @@
     MqttAvailability,
     MqttEntity,
     async_setup_entity_entry_helper,
+    validate_sensor_entity_category,
     write_state_on_attr_change,
 )
 from .models import MqttValueTemplate, ReceiveMessage
@@ -55,7 +56,7 @@
 DEFAULT_FORCE_UPDATE = False
 CONF_EXPIRE_AFTER = "expire_after"
 
-PLATFORM_SCHEMA_MODERN = MQTT_RO_SCHEMA.extend(
+_PLATFORM_SCHEMA_BASE = MQTT_RO_SCHEMA.extend(
     {
         vol.Optional(CONF_DEVICE_CLASS): vol.Any(DEVICE_CLASSES_SCHEMA, None),
         vol.Optional(CONF_EXPIRE_AFTER): cv.positive_int,
@@ -67,7 +68,12 @@
     }
 ).extend(MQTT_ENTITY_COMMON_SCHEMA.schema)
 
-DISCOVERY_SCHEMA = PLATFORM_SCHEMA_MODERN.extend({}, extra=vol.REMOVE_EXTRA)
+DISCOVERY_SCHEMA = vol.All(
+    validate_sensor_entity_category,
+    _PLATFORM_SCHEMA_BASE.extend({}, extra=vol.REMOVE_EXTRA),
+)
+
+PLATFORM_SCHEMA_MODERN = vol.All(validate_sensor_entity_category, _PLATFORM_SCHEMA_BASE)
 
 
 async def async_setup_entry(
diff --git a/homeassistant/components/mqtt/climate.py b/homeassistant/components/mqtt/climate.py
index dae768a13594e0..358fa6eb675d64 100644
--- a/homeassistant/components/mqtt/climate.py
+++ b/homeassistant/components/mqtt/climate.py
@@ -232,16 +232,16 @@
 def valid_preset_mode_configuration(config: ConfigType) -> ConfigType:
     """Validate that the preset mode reset payload is not one of the preset modes."""
     if PRESET_NONE in config[CONF_PRESET_MODES_LIST]:
-        raise ValueError("preset_modes must not include preset mode 'none'")
+        raise vol.Invalid("preset_modes must not include preset mode 'none'")
     return config
 
 
 def valid_humidity_range_configuration(config: ConfigType) -> ConfigType:
     """Validate a target_humidity range configuration, throws otherwise."""
     if config[CONF_HUMIDITY_MIN] >= config[CONF_HUMIDITY_MAX]:
-        raise ValueError("target_humidity_max must be > target_humidity_min")
+        raise vol.Invalid("target_humidity_max must be > target_humidity_min")
     if config[CONF_HUMIDITY_MAX] > 100:
-        raise ValueError("max_humidity must be <= 100")
+        raise vol.Invalid("max_humidity must be <= 100")
 
     return config
 
diff --git a/homeassistant/components/mqtt/fan.py b/homeassistant/components/mqtt/fan.py
index 021926767847da..0e9e7d708e9863 100644
--- a/homeassistant/components/mqtt/fan.py
+++ b/homeassistant/components/mqtt/fan.py
@@ -116,16 +116,16 @@
 def valid_speed_range_configuration(config: ConfigType) -> ConfigType:
     """Validate that the fan speed_range configuration is valid, throws if it isn't."""
     if config[CONF_SPEED_RANGE_MIN] == 0:
-        raise ValueError("speed_range_min must be > 0")
+        raise vol.Invalid("speed_range_min must be > 0")
     if config[CONF_SPEED_RANGE_MIN] >= config[CONF_SPEED_RANGE_MAX]:
-        raise ValueError("speed_range_max must be > speed_range_min")
+        raise vol.Invalid("speed_range_max must be > speed_range_min")
     return config
 
 
 def valid_preset_mode_configuration(config: ConfigType) -> ConfigType:
     """Validate that the preset mode reset payload is not one of the preset modes."""
     if config[CONF_PAYLOAD_RESET_PRESET_MODE] in config[CONF_PRESET_MODES_LIST]:
-        raise ValueError("preset_modes must not contain payload_reset_preset_mode")
+        raise vol.Invalid("preset_modes must not contain payload_reset_preset_mode")
     return config
 
 
diff --git a/homeassistant/components/mqtt/humidifier.py b/homeassistant/components/mqtt/humidifier.py
index 77a74b1519789b..75a74a0dcaacea 100644
--- a/homeassistant/components/mqtt/humidifier.py
+++ b/homeassistant/components/mqtt/humidifier.py
@@ -102,7 +102,7 @@
 def valid_mode_configuration(config: ConfigType) -> ConfigType:
     """Validate that the mode reset payload is not one of the available modes."""
     if config[CONF_PAYLOAD_RESET_MODE] in config[CONF_AVAILABLE_MODES_LIST]:
-        raise ValueError("modes must not contain payload_reset_mode")
+        raise vol.Invalid("modes must not contain payload_reset_mode")
     return config
 
 
@@ -113,9 +113,9 @@ def valid_humidity_range_configuration(config: ConfigType) -> ConfigType:
     throws if it isn't.
     """
     if config[CONF_TARGET_HUMIDITY_MIN] >= config[CONF_TARGET_HUMIDITY_MAX]:
-        raise ValueError("target_humidity_max must be > target_humidity_min")
+        raise vol.Invalid("target_humidity_max must be > target_humidity_min")
     if config[CONF_TARGET_HUMIDITY_MAX] > 100:
-        raise ValueError("max_humidity must be <= 100")
+        raise vol.Invalid("max_humidity must be <= 100")
 
     return config
 
diff --git a/homeassistant/components/mqtt/mixins.py b/homeassistant/components/mqtt/mixins.py
index 908e3c768b8df1..91a5511001b2ee 100644
--- a/homeassistant/components/mqtt/mixins.py
+++ b/homeassistant/components/mqtt/mixins.py
@@ -9,7 +9,6 @@
 from typing import TYPE_CHECKING, Any, Protocol, cast, final
 
 import voluptuous as vol
-import yaml
 
 from homeassistant.config_entries import ConfigEntry
 from homeassistant.const import (
@@ -28,6 +27,7 @@
     CONF_NAME,
     CONF_UNIQUE_ID,
     CONF_VALUE_TEMPLATE,
+    EntityCategory,
 )
 from homeassistant.core import CALLBACK_TYPE, HomeAssistant, callback
 from homeassistant.helpers import (
@@ -63,6 +63,7 @@
     UndefinedType,
 )
 from homeassistant.util.json import json_loads
+from homeassistant.util.yaml import dump as yaml_dump
 
 from . import debug_info, subscription
 from .client import async_publish
@@ -207,6 +208,16 @@ def validate_device_has_at_least_one_identifier(value: ConfigType) -> ConfigType
     )
 
 
+def validate_sensor_entity_category(config: ConfigType) -> ConfigType:
+    """Check the sensor's entity category is not set to `config` which is invalid for sensors."""
+    if (
+        CONF_ENTITY_CATEGORY in config
+        and config[CONF_ENTITY_CATEGORY] == EntityCategory.CONFIG
+    ):
+        raise vol.Invalid("Entity category `config` is invalid")
+    return config
+
+
 MQTT_ENTITY_DEVICE_INFO_SCHEMA = vol.All(
     cv.deprecated(CONF_DEPRECATED_VIA_HUB, CONF_VIA_DEVICE),
     vol.Schema(
@@ -404,8 +415,8 @@ def _async_setup_entities() -> None:
                 error = str(ex)
                 config_file = getattr(yaml_config, "__config_file__", "?")
                 line = getattr(yaml_config, "__line__", "?")
-                issue_id = hex(hash(frozenset(yaml_config.items())))
-                yaml_config_str = yaml.dump(dict(yaml_config))
+                issue_id = hex(hash(frozenset(yaml_config)))
+                yaml_config_str = yaml_dump(yaml_config)
                 learn_more_url = (
                     f"https://www.home-assistant.io/integrations/{domain}.mqtt/"
                 )
@@ -427,7 +438,7 @@ def _async_setup_entities() -> None:
                     translation_key="invalid_platform_config",
                 )
                 _LOGGER.error(
-                    "%s for manual configured MQTT %s item, in %s, line %s Got %s",
+                    "%s for manually configured MQTT %s item, in %s, line %s Got %s",
                     error,
                     domain,
                     config_file,
diff --git a/homeassistant/components/mqtt/sensor.py b/homeassistant/components/mqtt/sensor.py
index 93151c515421ac..e1c7ba64abaf2f 100644
--- a/homeassistant/components/mqtt/sensor.py
+++ b/homeassistant/components/mqtt/sensor.py
@@ -44,6 +44,7 @@
     MqttAvailability,
     MqttEntity,
     async_setup_entity_entry_helper,
+    validate_sensor_entity_category,
     write_state_on_attr_change,
 )
 from .models import (
@@ -70,7 +71,6 @@
 DEFAULT_NAME = "MQTT Sensor"
 DEFAULT_FORCE_UPDATE = False
 
-
 _PLATFORM_SCHEMA_BASE = MQTT_RO_SCHEMA.extend(
     {
         vol.Optional(CONF_DEVICE_CLASS): vol.Any(DEVICE_CLASSES_SCHEMA, None),
@@ -88,6 +88,7 @@
     # Deprecated in HA Core 2021.11.0 https://github.com/home-assistant/core/pull/54840
     # Removed in HA Core 2023.6.0
     cv.removed(CONF_LAST_RESET_TOPIC),
+    validate_sensor_entity_category,
     _PLATFORM_SCHEMA_BASE,
 )
 
@@ -95,6 +96,7 @@
     # Deprecated in HA Core 2021.11.0 https://github.com/home-assistant/core/pull/54840
     # Removed in HA Core 2023.6.0
     cv.removed(CONF_LAST_RESET_TOPIC),
+    validate_sensor_entity_category,
     _PLATFORM_SCHEMA_BASE.extend({}, extra=vol.REMOVE_EXTRA),
 )
 
diff --git a/homeassistant/components/mqtt/text.py b/homeassistant/components/mqtt/text.py
index f6aeac3be7c6e4..da93a6b619e344 100644
--- a/homeassistant/components/mqtt/text.py
+++ b/homeassistant/components/mqtt/text.py
@@ -71,9 +71,9 @@
 def valid_text_size_configuration(config: ConfigType) -> ConfigType:
     """Validate that the text length configuration is valid, throws if it isn't."""
     if config[CONF_MIN] >= config[CONF_MAX]:
-        raise ValueError("text length min must be >= max")
+        raise vol.Invalid("text length min must be >= max")
     if config[CONF_MAX] > MAX_LENGTH_STATE_STATE:
-        raise ValueError(f"max text length must be <= {MAX_LENGTH_STATE_STATE}")
+        raise vol.Invalid(f"max text length must be <= {MAX_LENGTH_STATE_STATE}")
 
     return config
 
diff --git a/tests/components/mqtt/test_alarm_control_panel.py b/tests/components/mqtt/test_alarm_control_panel.py
index 0d5c9ee2e8d5ba..40049431edb56a 100644
--- a/tests/components/mqtt/test_alarm_control_panel.py
+++ b/tests/components/mqtt/test_alarm_control_panel.py
@@ -1297,7 +1297,7 @@ async def test_reload_after_invalid_config(
         assert hass.states.get("alarm_control_panel.test") is None
         assert (
             "extra keys not allowed @ data['invalid_topic'] for "
-            "manual configured MQTT alarm_control_panel item, "
+            "manually configured MQTT alarm_control_panel item, "
             "in ?, line ? Got {'name': 'test', 'invalid_topic': 'test-topic'}"
             in caplog.text
         )
diff --git a/tests/components/mqtt/test_climate.py b/tests/components/mqtt/test_climate.py
index 89eaf87fb3ac04..6d6c74753661d1 100644
--- a/tests/components/mqtt/test_climate.py
+++ b/tests/components/mqtt/test_climate.py
@@ -139,7 +139,7 @@ async def test_preset_none_in_preset_modes(
 ) -> None:
     """Test the preset mode payload reset configuration."""
     assert await mqtt_mock_entry()
-    assert "not a valid value" in caplog.text
+    assert "preset_modes must not include preset mode 'none'" in caplog.text
 
 
 @pytest.mark.parametrize(
diff --git a/tests/components/mqtt/test_fan.py b/tests/components/mqtt/test_fan.py
index 6642d778f534de..21d3bcce3a97de 100644
--- a/tests/components/mqtt/test_fan.py
+++ b/tests/components/mqtt/test_fan.py
@@ -1788,7 +1788,7 @@ async def test_attributes(
             },
             False,
             None,
-            "not a valid value",
+            "speed_range_max must be > speed_range_min",
         ),
         (
             "test14",
@@ -1805,7 +1805,7 @@ async def test_attributes(
             },
             False,
             None,
-            "not a valid value",
+            "speed_range_min must be > 0",
         ),
         (
             "test15",
diff --git a/tests/components/mqtt/test_init.py b/tests/components/mqtt/test_init.py
index 2aa8de388b10b0..93d730948851dd 100644
--- a/tests/components/mqtt/test_init.py
+++ b/tests/components/mqtt/test_init.py
@@ -2134,7 +2134,7 @@ async def test_setup_manual_mqtt_with_platform_key(
     """Test set up a manual MQTT item with a platform key."""
     assert await mqtt_mock_entry()
     assert (
-        "extra keys not allowed @ data['platform'] for manual configured MQTT light item"
+        "extra keys not allowed @ data['platform'] for manually configured MQTT light item"
         in caplog.text
     )
 
@@ -2151,6 +2151,42 @@ async def test_setup_manual_mqtt_with_invalid_config(
     assert "required key not provided" in caplog.text
 
 
+@pytest.mark.parametrize(
+    "hass_config",
+    [
+        {
+            mqtt.DOMAIN: {
+                "sensor": {
+                    "name": "test",
+                    "state_topic": "test-topic",
+                    "entity_category": "config",
+                }
+            }
+        },
+        {
+            mqtt.DOMAIN: {
+                "binary_sensor": {
+                    "name": "test",
+                    "state_topic": "test-topic",
+                    "entity_category": "config",
+                }
+            }
+        },
+    ],
+)
+@patch(
+    "homeassistant.components.mqtt.PLATFORMS", [Platform.BINARY_SENSOR, Platform.SENSOR]
+)
+async def test_setup_manual_mqtt_with_invalid_entity_category(
+    hass: HomeAssistant,
+    mqtt_mock_entry: MqttMockHAClientGenerator,
+    caplog: pytest.LogCaptureFixture,
+) -> None:
+    """Test set up a manual sensor item with an invalid entity category."""
+    assert await mqtt_mock_entry()
+    assert "Entity category `config` is invalid" in caplog.text
+
+
 @patch("homeassistant.components.mqtt.PLATFORMS", [])
 @pytest.mark.parametrize(
     ("mqtt_config_entry_data", "protocol"),
diff --git a/tests/components/mqtt/test_text.py b/tests/components/mqtt/test_text.py
index 80f38dffcf9fa3..a602f1e3065f44 100644
--- a/tests/components/mqtt/test_text.py
+++ b/tests/components/mqtt/test_text.py
@@ -211,7 +211,7 @@ async def test_attribute_validation_max_greater_then_min(
 ) -> None:
     """Test the validation of min and max configuration attributes."""
     assert await mqtt_mock_entry()
-    assert "not a valid value" in caplog.text
+    assert "text length min must be >= max" in caplog.text
 
 
 @pytest.mark.parametrize(
@@ -236,7 +236,7 @@ async def test_attribute_validation_max_not_greater_then_max_state_length(
 ) -> None:
     """Test the max value of of max configuration attribute."""
     assert await mqtt_mock_entry()
-    assert "not a valid value" in caplog.text
+    assert "max text length must be <= 255" in caplog.text
 
 
 @pytest.mark.parametrize(