Concerning the inconclusive debate of whether Financial Performance (FP) is ESG-driven or ESG Performance (ESGP) is financially-driven, this chapter analyzes the role of FP as an antecedent of ESGP, to date a less explored issue by the literature. Rooted in the Slack Resource Theory, this research relies on a 13-year panel dataset of European non-financial listed companies. Through two dynamic panel regression models based on Arellano and Bond’s Generalized Moment Method, we study the impact of various dimensions of FP (“Solvency and liquidity,” “Profitability,” “Overall”) on ESGP, also testing the joint effect of FP with the presence of a CSR Committee specifically responsible for decision-making on CSR strategy. The findings show a positive impact of overall FP and its score encompassing solvency and liquidity dimensions on ESGP against a weak negative relationship with profitability performance. Moreover, the findings reveal that the presence of a CSR Committee generally improves the role of FP as a determinant of ESGP. The study contributes to the literature on the FP-ESG relationship, offering helpful insights for further research. Moreover, it may support management in a better understanding of the FP-ESG relationship and in assessing the relevant role of the presence of a CSR Committee.