diff --git a/homeassistant/components/template/vacuum.py b/homeassistant/components/template/vacuum.py
index 5374247dacc..6a6523514c4 100644
--- a/homeassistant/components/template/vacuum.py
+++ b/homeassistant/components/template/vacuum.py
@@ -44,6 +44,8 @@ from homeassistant.exceptions import TemplateError
 from homeassistant.helpers.entity import async_generate_entity_id
 from homeassistant.helpers.script import Script
 
+from .const import CONF_AVAILABILITY_TEMPLATE
+
 _LOGGER = logging.getLogger(__name__)
 
 CONF_VACUUMS = "vacuums"
@@ -67,6 +69,7 @@ VACUUM_SCHEMA = vol.Schema(
         vol.Optional(CONF_VALUE_TEMPLATE): cv.template,
         vol.Optional(CONF_BATTERY_LEVEL_TEMPLATE): cv.template,
         vol.Optional(CONF_FAN_SPEED_TEMPLATE): cv.template,
+        vol.Optional(CONF_AVAILABILITY_TEMPLATE): cv.template,
         vol.Required(SERVICE_START): cv.SCRIPT_SCHEMA,
         vol.Optional(SERVICE_PAUSE): cv.SCRIPT_SCHEMA,
         vol.Optional(SERVICE_STOP): cv.SCRIPT_SCHEMA,
@@ -94,6 +97,7 @@ async def async_setup_platform(hass, config, async_add_entities, discovery_info=
         state_template = device_config.get(CONF_VALUE_TEMPLATE)
         battery_level_template = device_config.get(CONF_BATTERY_LEVEL_TEMPLATE)
         fan_speed_template = device_config.get(CONF_FAN_SPEED_TEMPLATE)
+        availability_template = device_config.get(CONF_AVAILABILITY_TEMPLATE)
 
         start_action = device_config[SERVICE_START]
         pause_action = device_config.get(SERVICE_PAUSE)
@@ -113,6 +117,7 @@ async def async_setup_platform(hass, config, async_add_entities, discovery_info=
             (CONF_VALUE_TEMPLATE, state_template),
             (CONF_BATTERY_LEVEL_TEMPLATE, battery_level_template),
             (CONF_FAN_SPEED_TEMPLATE, fan_speed_template),
+            (CONF_AVAILABILITY_TEMPLATE, availability_template),
         ):
             if template is None:
                 continue
@@ -152,6 +157,7 @@ async def async_setup_platform(hass, config, async_add_entities, discovery_info=
                 state_template,
                 battery_level_template,
                 fan_speed_template,
+                availability_template,
                 start_action,
                 pause_action,
                 stop_action,
@@ -178,6 +184,7 @@ class TemplateVacuum(StateVacuumDevice):
         state_template,
         battery_level_template,
         fan_speed_template,
+        availability_template,
         start_action,
         pause_action,
         stop_action,
@@ -198,6 +205,7 @@ class TemplateVacuum(StateVacuumDevice):
         self._template = state_template
         self._battery_level_template = battery_level_template
         self._fan_speed_template = fan_speed_template
+        self._availability_template = availability_template
         self._supported_features = SUPPORT_START
 
         self._start_script = Script(hass, start_action)
@@ -235,6 +243,7 @@ class TemplateVacuum(StateVacuumDevice):
         self._state = None
         self._battery_level = None
         self._fan_speed = None
+        self._available = True
 
         if self._template:
             self._supported_features |= SUPPORT_STATE
@@ -280,6 +289,11 @@ class TemplateVacuum(StateVacuumDevice):
         """Return the polling state."""
         return False
 
+    @property
+    def available(self) -> bool:
+        """Return if the device is available."""
+        return self._available
+
     async def async_start(self):
         """Start or resume the cleaning task."""
         await self._start_script.async_run(context=self._context)
@@ -421,3 +435,16 @@ class TemplateVacuum(StateVacuumDevice):
                     self._fan_speed_list,
                 )
                 self._fan_speed = None
+        # Update availability if availability template is defined
+        if self._availability_template is not None:
+            try:
+                self._available = (
+                    self._availability_template.async_render().lower() == "true"
+                )
+            except (TemplateError, ValueError) as ex:
+                _LOGGER.error(
+                    "Could not render %s template %s: %s",
+                    CONF_AVAILABILITY_TEMPLATE,
+                    self._name,
+                    ex,
+                )
diff --git a/tests/components/template/test_vacuum.py b/tests/components/template/test_vacuum.py
index 9e3c535f136..da0e8e59ede 100644
--- a/tests/components/template/test_vacuum.py
+++ b/tests/components/template/test_vacuum.py
@@ -3,7 +3,7 @@ import logging
 import pytest
 
 from homeassistant import setup
-from homeassistant.const import STATE_ON, STATE_UNKNOWN
+from homeassistant.const import STATE_ON, STATE_OFF, STATE_UNKNOWN, STATE_UNAVAILABLE
 from homeassistant.components.vacuum import (
     ATTR_BATTERY_LEVEL,
     STATE_CLEANING,
@@ -210,6 +210,68 @@ async def test_invalid_templates(hass, calls):
     _verify(hass, STATE_UNKNOWN, None)
 
 
+async def test_available_template_with_entities(hass, calls):
+    """Test availability templates with values from other entities."""
+
+    assert await setup.async_setup_component(
+        hass,
+        "vacuum",
+        {
+            "vacuum": {
+                "platform": "template",
+                "vacuums": {
+                    "test_template_vacuum": {
+                        "availability_template": "{{ is_state('availability_state.state', 'on') }}",
+                        "start": {"service": "script.vacuum_start"},
+                    }
+                },
+            }
+        },
+    )
+
+    await hass.async_start()
+    await hass.async_block_till_done()
+
+    # When template returns true..
+    hass.states.async_set("availability_state.state", STATE_ON)
+    await hass.async_block_till_done()
+
+    # Device State should not be unavailable
+    assert hass.states.get("vacuum.test_template_vacuum").state != STATE_UNAVAILABLE
+
+    # When Availability template returns false
+    hass.states.async_set("availability_state.state", STATE_OFF)
+    await hass.async_block_till_done()
+
+    # device state should be unavailable
+    assert hass.states.get("vacuum.test_template_vacuum").state == STATE_UNAVAILABLE
+
+
+async def test_invalid_availability_template_keeps_component_available(hass, caplog):
+    """Test that an invalid availability keeps the device available."""
+    assert await setup.async_setup_component(
+        hass,
+        "vacuum",
+        {
+            "vacuum": {
+                "platform": "template",
+                "vacuums": {
+                    "test_template_vacuum": {
+                        "availability_template": "{{ x - 12 }}",
+                        "start": {"service": "script.vacuum_start"},
+                    }
+                },
+            }
+        },
+    )
+
+    await hass.async_start()
+    await hass.async_block_till_done()
+
+    assert hass.states.get("vacuum.test_template_vacuum") != STATE_UNAVAILABLE
+    assert ("UndefinedError: 'x' is undefined") in caplog.text
+
+
 # End of template tests #