diff --git a/homeassistant/components/device_tracker/legacy.py b/homeassistant/components/device_tracker/legacy.py
index a90d92944a4..2614bd4228a 100644
--- a/homeassistant/components/device_tracker/legacy.py
+++ b/homeassistant/components/device_tracker/legacy.py
@@ -250,21 +250,19 @@ class DeviceTrackerPlatform:
                 else:
                     raise HomeAssistantError("Invalid legacy device_tracker platform.")
 
-                if setup:
-                    hass.config.components.add(full_name)
-
                 if scanner:
                     async_setup_scanner_platform(
                         hass, self.config, scanner, tracker.async_see, self.type
                     )
-                    return
 
-                if not setup:
+                if not setup and not scanner:
                     LOGGER.error(
                         "Error setting up platform %s %s", self.type, self.name
                     )
                     return
 
+                hass.config.components.add(full_name)
+
             except Exception:  # pylint: disable=broad-except
                 LOGGER.exception(
                     "Error setting up platform %s %s", self.type, self.name
diff --git a/tests/components/device_tracker/test_init.py b/tests/components/device_tracker/test_init.py
index af0c7658ac7..6155ed7d1db 100644
--- a/tests/components/device_tracker/test_init.py
+++ b/tests/components/device_tracker/test_init.py
@@ -120,6 +120,7 @@ async def test_reading_yaml_config(hass, yaml_devices):
     assert device.config_picture == config.config_picture
     assert device.consider_home == config.consider_home
     assert device.icon == config.icon
+    assert f"{device_tracker.DOMAIN}.test" in hass.config.components
 
 
 @patch("homeassistant.components.device_tracker.const.LOGGER.warning")
@@ -558,6 +559,8 @@ async def test_bad_platform(hass):
     with assert_setup_component(0, device_tracker.DOMAIN):
         assert await async_setup_component(hass, device_tracker.DOMAIN, config)
 
+    assert f"{device_tracker.DOMAIN}.bad_platform" not in hass.config.components
+
 
 async def test_adding_unknown_device_to_config(mock_device_tracker_conf, hass):
     """Test the adding of unknown devices to configuration file."""