diff --git a/esphome/components/lsm6ds/__init__.py b/esphome/components/lsm6ds/__init__.py
index c970b5fc7..63204fc23 100644
--- a/esphome/components/lsm6ds/__init__.py
+++ b/esphome/components/lsm6ds/__init__.py
@@ -11,14 +11,14 @@ from .const import (
     CONF_ACCEL_ODR,
     CONF_GYRO_ODR,
     LSM6DS_ACCEL_RANGE_2G,
+    LSM6DS_ACCEL_RANGE_16G,
     LSM6DS_ACCEL_RANGE_4G,
     LSM6DS_ACCEL_RANGE_8G,
-    LSM6DS_ACCEL_RANGE_16G,
-    LSM6DS_GYRO_RANGE_125DPS,
     LSM6DS_GYRO_RANGE_250DPS,
     LSM6DS_GYRO_RANGE_500DPS,
     LSM6DS_GYRO_RANGE_1000DPS,
     LSM6DS_GYRO_RANGE_2000DPS,
+    LSM6DS_GYRO_RANGE_125DPS,
     LSM6DS_ACCEL_ODR_OFF,
     LSM6DS_ACCEL_ODR_12_5HZ,
     LSM6DS_ACCEL_ODR_26HZ,
@@ -30,6 +30,17 @@ from .const import (
     LSM6DS_ACCEL_ODR_1_66KHZ,
     LSM6DS_ACCEL_ODR_3_33KHZ,
     LSM6DS_ACCEL_ODR_6_66KHZ,
+    LSM6DS_GYRO_ODR_OFF,
+    LSM6DS_GYRO_ODR_12_5HZ,
+    LSM6DS_GYRO_ODR_26HZ,
+    LSM6DS_GYRO_ODR_52HZ,
+    LSM6DS_GYRO_ODR_104HZ,
+    LSM6DS_GYRO_ODR_208HZ,
+    LSM6DS_GYRO_ODR_416HZ,
+    LSM6DS_GYRO_ODR_833HZ,
+    LSM6DS_GYRO_ODR_1_66KHZ,
+    LSM6DS_GYRO_ODR_3_33KHZ,
+    LSM6DS_GYRO_ODR_6_66KHZ,
 )
 
 DEPENDENCIES = ["i2c"]
@@ -39,20 +50,20 @@ LSM6DSI2CDevice = lsm6ds_ns.class_("LSM6DSI2CDevice", LSM6DSComponent, i2c.I2CDe
 
 ACCEL_RANGES = {
     "2G": LSM6DS_ACCEL_RANGE_2G,
+    "16G": LSM6DS_ACCEL_RANGE_16G,
     "4G": LSM6DS_ACCEL_RANGE_4G,
     "8G": LSM6DS_ACCEL_RANGE_8G,
-    "16G": LSM6DS_ACCEL_RANGE_16G,
 }
 
 GYRO_RANGES = {
-    "125DPS": LSM6DS_GYRO_RANGE_125DPS,
     "250DPS": LSM6DS_GYRO_RANGE_250DPS,
     "500DPS": LSM6DS_GYRO_RANGE_500DPS,
     "1000DPS": LSM6DS_GYRO_RANGE_1000DPS,
     "2000DPS": LSM6DS_GYRO_RANGE_2000DPS,
+    "125DPS": LSM6DS_GYRO_RANGE_125DPS,
 }
 
-ODRS = {
+ACCEL_ODRS = {
     "0HZ": LSM6DS_ACCEL_ODR_OFF,
     "12.5HZ": LSM6DS_ACCEL_ODR_12_5HZ,
     "26HZ": LSM6DS_ACCEL_ODR_26HZ,
@@ -66,11 +77,25 @@ ODRS = {
     "6.66KHZ": LSM6DS_ACCEL_ODR_6_66KHZ,
 }
 
+GYRO_ODRS = {
+    "0HZ": LSM6DS_GYRO_ODR_OFF,
+    "12.5HZ": LSM6DS_GYRO_ODR_12_5HZ,
+    "26HZ": LSM6DS_GYRO_ODR_26HZ,
+    "52HZ": LSM6DS_GYRO_ODR_52HZ,
+    "104HZ": LSM6DS_GYRO_ODR_104HZ,
+    "208HZ": LSM6DS_GYRO_ODR_208HZ,
+    "416HZ": LSM6DS_GYRO_ODR_416HZ,
+    "833HZ": LSM6DS_GYRO_ODR_833HZ,
+    "1.66KHZ": LSM6DS_GYRO_ODR_1_66KHZ,
+    "3.33KHZ": LSM6DS_GYRO_ODR_3_33KHZ,
+    "6.66KHZ": LSM6DS_GYRO_ODR_6_66KHZ,
+}
+
 BASE_SCHEMA = cv.Schema({
     cv.Optional(CONF_ACCEL_RANGE, default="2G"): cv.enum(ACCEL_RANGES, upper=True),
     cv.Optional(CONF_GYRO_RANGE, default="250DPS"): cv.enum(GYRO_RANGES, upper=True),
-    cv.Optional(CONF_ACCEL_ODR, default="104HZ"): cv.enum(ODRS, upper=True),
-    cv.Optional(CONF_GYRO_ODR, default="104HZ"): cv.enum(ODRS, upper=True),
+    cv.Optional(CONF_ACCEL_ODR, default="104HZ"): cv.enum(ACCEL_ODRS, upper=True),
+    cv.Optional(CONF_GYRO_ODR, default="104HZ"): cv.enum(GYRO_ODRS, upper=True),
 }).extend(cv.polling_component_schema("60s"))
 
 CONFIG_SCHEMA = cv.Schema({
@@ -84,8 +109,8 @@ async def to_code(config):
     
     accel_range = ACCEL_RANGES[config[CONF_ACCEL_RANGE]]
     gyro_range = GYRO_RANGES[config[CONF_GYRO_RANGE]]
-    accel_odr = ODRS[config[CONF_ACCEL_ODR]]
-    gyro_odr = ODRS[config[CONF_GYRO_ODR]]
+    accel_odr = ACCEL_ODRS[config[CONF_ACCEL_ODR]]
+    gyro_odr = GYRO_ODRS[config[CONF_GYRO_ODR]]
         
     cg.add(var.set_accel_range(accel_range))
     cg.add(var.set_gyro_range(gyro_range))
diff --git a/esphome/components/lsm6ds/const.py b/esphome/components/lsm6ds/const.py
index 90274a216..dd3184a67 100644
--- a/esphome/components/lsm6ds/const.py
+++ b/esphome/components/lsm6ds/const.py
@@ -19,18 +19,19 @@ LSM6DSComponent = lsm6ds_ns.class_("LSM6DSComponent", cg.PollingComponent)
 
 LSM6DSAccelRange = lsm6ds_ns.enum("LSM6DSAccelRange")
 LSM6DS_ACCEL_RANGE_2G = LSM6DSAccelRange.LSM6DS_ACCEL_RANGE_2G
+LSM6DS_ACCEL_RANGE_16G = LSM6DSAccelRange.LSM6DS_ACCEL_RANGE_16G
 LSM6DS_ACCEL_RANGE_4G = LSM6DSAccelRange.LSM6DS_ACCEL_RANGE_4G
 LSM6DS_ACCEL_RANGE_8G = LSM6DSAccelRange.LSM6DS_ACCEL_RANGE_8G
-LSM6DS_ACCEL_RANGE_16G = LSM6DSAccelRange.LSM6DS_ACCEL_RANGE_16G
 
 LSM6DSGyroRange = lsm6ds_ns.enum("LSM6DSGyroRange")
-LSM6DS_GYRO_RANGE_125DPS = LSM6DSGyroRange.LSM6DS_GYRO_RANGE_125DPS
 LSM6DS_GYRO_RANGE_250DPS = LSM6DSGyroRange.LSM6DS_GYRO_RANGE_250DPS
 LSM6DS_GYRO_RANGE_500DPS = LSM6DSGyroRange.LSM6DS_GYRO_RANGE_500DPS
 LSM6DS_GYRO_RANGE_1000DPS = LSM6DSGyroRange.LSM6DS_GYRO_RANGE_1000DPS
 LSM6DS_GYRO_RANGE_2000DPS = LSM6DSGyroRange.LSM6DS_GYRO_RANGE_2000DPS
+LSM6DS_GYRO_RANGE_125DPS = LSM6DSGyroRange.LSM6DS_GYRO_RANGE_125DPS
 
 LSM6DSODR = lsm6ds_ns.enum("LSM6DSODR")
+# Accelerometer ODR Values (matches ODR_XL[3:0] in CTRL1_XL)
 LSM6DS_ACCEL_ODR_OFF = LSM6DSODR.LSM6DS_ODR_OFF
 LSM6DS_ACCEL_ODR_12_5HZ = LSM6DSODR.LSM6DS_ODR_12_5HZ
 LSM6DS_ACCEL_ODR_26HZ = LSM6DSODR.LSM6DS_ODR_26HZ
@@ -43,6 +44,19 @@ LSM6DS_ACCEL_ODR_1_66KHZ = LSM6DSODR.LSM6DS_ODR_1_66KHZ
 LSM6DS_ACCEL_ODR_3_33KHZ = LSM6DSODR.LSM6DS_ODR_3_33KHZ
 LSM6DS_ACCEL_ODR_6_66KHZ = LSM6DSODR.LSM6DS_ODR_6_66KHZ
 
+# Gyroscope ODR Values (matches ODR_G[3:0] in CTRL2_G)
+LSM6DS_GYRO_ODR_OFF = LSM6DSODR.LSM6DS_ODR_OFF
+LSM6DS_GYRO_ODR_12_5HZ = LSM6DSODR.LSM6DS_ODR_12_5HZ
+LSM6DS_GYRO_ODR_26HZ = LSM6DSODR.LSM6DS_ODR_26HZ
+LSM6DS_GYRO_ODR_52HZ = LSM6DSODR.LSM6DS_ODR_52HZ
+LSM6DS_GYRO_ODR_104HZ = LSM6DSODR.LSM6DS_ODR_104HZ
+LSM6DS_GYRO_ODR_208HZ = LSM6DSODR.LSM6DS_ODR_208HZ
+LSM6DS_GYRO_ODR_416HZ = LSM6DSODR.LSM6DS_ODR_416HZ
+LSM6DS_GYRO_ODR_833HZ = LSM6DSODR.LSM6DS_ODR_833HZ
+LSM6DS_GYRO_ODR_1_66KHZ = LSM6DSODR.LSM6DS_ODR_1_66KHZ
+LSM6DS_GYRO_ODR_3_33KHZ = LSM6DSODR.LSM6DS_ODR_3_33KHZ
+LSM6DS_GYRO_ODR_6_66KHZ = LSM6DSODR.LSM6DS_ODR_6_66KHZ
+
 CONF_ACCEL_X = "accel_x"
 CONF_ACCEL_Y = "accel_y"
 CONF_ACCEL_Z = "accel_z"