diff --git a/homeassistant/components/roomba/config_flow.py b/homeassistant/components/roomba/config_flow.py
index 45c2d8b9a1b..92d9ff05dc0 100644
--- a/homeassistant/components/roomba/config_flow.py
+++ b/homeassistant/components/roomba/config_flow.py
@@ -328,9 +328,8 @@ async def _async_discover_roombas(hass, host):
             discovery = _async_get_roomba_discovery()
             try:
                 if host:
-                    discovered = [
-                        await hass.async_add_executor_job(discovery.get, host)
-                    ]
+                    device = await hass.async_add_executor_job(discovery.get, host)
+                    discovered = [device] if device else []
                 else:
                     discovered = await hass.async_add_executor_job(discovery.get_all)
             except OSError:
diff --git a/tests/components/roomba/test_config_flow.py b/tests/components/roomba/test_config_flow.py
index ee3b7d4b497..a15ad7e43a6 100644
--- a/tests/components/roomba/test_config_flow.py
+++ b/tests/components/roomba/test_config_flow.py
@@ -711,7 +711,7 @@ async def test_dhcp_discovery_and_roomba_discovery_finds(hass, discovery_data):
 
 @pytest.mark.parametrize("discovery_data", DHCP_DISCOVERY_DEVICES_WITHOUT_MATCHING_IP)
 async def test_dhcp_discovery_falls_back_to_manual(hass, discovery_data):
-    """Test we can process the discovery from dhcp but roomba discovery cannot find the device."""
+    """Test we can process the discovery from dhcp but roomba discovery cannot find the specific device."""
     await setup.async_setup_component(hass, "persistent_notification", {})
 
     mocked_roomba = _create_mocked_roomba(
@@ -782,6 +782,68 @@ async def test_dhcp_discovery_falls_back_to_manual(hass, discovery_data):
     assert len(mock_setup_entry.mock_calls) == 1
 
 
+@pytest.mark.parametrize("discovery_data", DHCP_DISCOVERY_DEVICES_WITHOUT_MATCHING_IP)
+async def test_dhcp_discovery_no_devices_falls_back_to_manual(hass, discovery_data):
+    """Test we can process the discovery from dhcp but roomba discovery cannot find any devices."""
+    await setup.async_setup_component(hass, "persistent_notification", {})
+
+    mocked_roomba = _create_mocked_roomba(
+        roomba_connected=True,
+        master_state={"state": {"reported": {"name": "myroomba"}}},
+    )
+
+    with patch(
+        "homeassistant.components.roomba.config_flow.RoombaDiscovery",
+        _mocked_no_devices_found_discovery,
+    ):
+        result = await hass.config_entries.flow.async_init(
+            DOMAIN,
+            context={"source": config_entries.SOURCE_DHCP},
+            data=discovery_data,
+        )
+        await hass.async_block_till_done()
+
+    assert result["type"] == data_entry_flow.RESULT_TYPE_FORM
+    assert result["errors"] is None
+    assert result["step_id"] == "manual"
+
+    result2 = await hass.config_entries.flow.async_configure(
+        result["flow_id"],
+        {CONF_HOST: MOCK_IP, CONF_BLID: "blid"},
+    )
+    await hass.async_block_till_done()
+    assert result2["type"] == data_entry_flow.RESULT_TYPE_FORM
+    assert result2["errors"] is None
+
+    with patch(
+        "homeassistant.components.roomba.config_flow.Roomba",
+        return_value=mocked_roomba,
+    ), patch(
+        "homeassistant.components.roomba.config_flow.RoombaPassword",
+        _mocked_getpassword,
+    ), patch(
+        "homeassistant.components.roomba.async_setup_entry",
+        return_value=True,
+    ) as mock_setup_entry:
+        result3 = await hass.config_entries.flow.async_configure(
+            result2["flow_id"],
+            {},
+        )
+        await hass.async_block_till_done()
+
+    assert result3["type"] == data_entry_flow.RESULT_TYPE_CREATE_ENTRY
+    assert result3["title"] == "myroomba"
+    assert result3["result"].unique_id == "BLID"
+    assert result3["data"] == {
+        CONF_BLID: "BLID",
+        CONF_CONTINUOUS: True,
+        CONF_DELAY: 1,
+        CONF_HOST: MOCK_IP,
+        CONF_PASSWORD: "password",
+    }
+    assert len(mock_setup_entry.mock_calls) == 1
+
+
 async def test_dhcp_discovery_with_ignored(hass):
     """Test ignored entries do not break checking for existing entries."""
     await setup.async_setup_component(hass, "persistent_notification", {})