A power semiconductor device with drain voltage protection includes a semiconductor substrate, at least a trench gate transistor device and at least a trench ESD protection device. An upper surface of the semiconductor substrate has a first trench and a second trench. The trench gate transistor device is disposed in the first trench and the semiconductor substrate. The trench ESD protection device is disposed in the second trench, and includes a first doped region, a second doped region and a third doped region. The first doped region and the third doped region are respectively electrically connected to a drain and a gate of the trench gate transistor device.