diff --git a/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/java/org/springframework/boot/actuate/autoconfigure/security/servlet/EndpointRequest.java b/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/java/org/springframework/boot/actuate/autoconfigure/security/servlet/EndpointRequest.java
index e27ecc8c9c..00ccf05eef 100644
--- a/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/java/org/springframework/boot/actuate/autoconfigure/security/servlet/EndpointRequest.java
+++ b/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/java/org/springframework/boot/actuate/autoconfigure/security/servlet/EndpointRequest.java
@@ -273,6 +273,24 @@ public final class EndpointRequest {
 					.collect(Collectors.toCollection(ArrayList::new));
 		}
 
+		@Override
+		public String toString() {
+			StringBuilder sb = new StringBuilder();
+			if (this.includes.isEmpty()) {
+				sb.append("EndpointRequest [includes='[").append("*").append("]'");
+			}
+			else {
+				sb.append("EndpointRequest [includes='")
+						.append(this.includes.stream().map(this::getEndpointId).collect(Collectors.toList()))
+						.append("'");
+			}
+			sb.append(", Excludes='")
+					.append(this.excludes.stream().map(this::getEndpointId).collect(Collectors.toList())).append("'");
+			sb.append(", IncludeLinks='").append(this.includeLinks).append("'");
+			sb.append("]");
+			return sb.toString();
+		}
+
 	}
 
 	/**
diff --git a/spring-boot-project/spring-boot-actuator-autoconfigure/src/test/java/org/springframework/boot/actuate/autoconfigure/security/servlet/EndpointRequestTests.java b/spring-boot-project/spring-boot-actuator-autoconfigure/src/test/java/org/springframework/boot/actuate/autoconfigure/security/servlet/EndpointRequestTests.java
index 63d50d7910..a2f25aafcc 100644
--- a/spring-boot-project/spring-boot-actuator-autoconfigure/src/test/java/org/springframework/boot/actuate/autoconfigure/security/servlet/EndpointRequestTests.java
+++ b/spring-boot-project/spring-boot-actuator-autoconfigure/src/test/java/org/springframework/boot/actuate/autoconfigure/security/servlet/EndpointRequestTests.java
@@ -215,6 +215,34 @@ class EndpointRequestTests {
 		assertMatcher(matcher, (PathMappedEndpoints) null).doesNotMatch("/actuator/bar");
 	}
 
+	@Test
+	void toStringIncludedEndpoints() {
+		RequestMatcher matcher = EndpointRequest.to("foo", "bar");
+		assertThat(matcher.toString())
+				.isEqualTo("EndpointRequest [includes='[foo, bar]', Excludes='[]', IncludeLinks='false']");
+	}
+
+	@Test
+	void toStringEmptyIncludedEndpoints() {
+		RequestMatcher matcher = EndpointRequest.toAnyEndpoint();
+		assertThat(matcher.toString())
+				.isEqualTo("EndpointRequest [includes='[*]', Excludes='[]', IncludeLinks='true']");
+	}
+
+	@Test
+	void toStringIncludedEndpointsClasses() {
+		RequestMatcher matcher = EndpointRequest.to(FooEndpoint.class).excluding("bar");
+		assertThat(matcher.toString())
+				.isEqualTo("EndpointRequest [includes='[foo]', Excludes='[bar]', IncludeLinks='false']");
+	}
+
+	@Test
+	void toStringIncludedExcludedEndpoints() {
+		RequestMatcher matcher = EndpointRequest.toAnyEndpoint().excluding("bar").excludingLinks();
+		assertThat(matcher.toString())
+				.isEqualTo("EndpointRequest [includes='[*]', Excludes='[bar]', IncludeLinks='false']");
+	}
+
 	private RequestMatcherAssert assertMatcher(RequestMatcher matcher) {
 		return assertMatcher(matcher, mockPathMappedEndpoints("/actuator"));
 	}