diff --git a/spring-boot-project/spring-boot-autoconfigure/src/main/java/org/springframework/boot/autoconfigure/rsocket/RSocketMessagingAutoConfiguration.java b/spring-boot-project/spring-boot-autoconfigure/src/main/java/org/springframework/boot/autoconfigure/rsocket/RSocketMessagingAutoConfiguration.java
index 5a20a5b631..297b8d83ac 100644
--- a/spring-boot-project/spring-boot-autoconfigure/src/main/java/org/springframework/boot/autoconfigure/rsocket/RSocketMessagingAutoConfiguration.java
+++ b/spring-boot-project/spring-boot-autoconfigure/src/main/java/org/springframework/boot/autoconfigure/rsocket/RSocketMessagingAutoConfiguration.java
@@ -28,6 +28,9 @@ import org.springframework.context.annotation.Configuration;
 import org.springframework.messaging.rsocket.MessageHandlerAcceptor;
 import org.springframework.messaging.rsocket.RSocketRequester;
 import org.springframework.messaging.rsocket.RSocketStrategies;
+import org.springframework.util.ClassUtils;
+import org.springframework.web.util.pattern.PathPatternParser;
+import org.springframework.web.util.pattern.PathPatternRouteMatcher;
 
 /**
  * {@link EnableAutoConfiguration Auto-configuration} for Spring RSocket support in Spring
@@ -42,12 +45,19 @@ import org.springframework.messaging.rsocket.RSocketStrategies;
 @AutoConfigureAfter(RSocketStrategiesAutoConfiguration.class)
 public class RSocketMessagingAutoConfiguration {
 
+	private static String PATHPATTERN_ROUTEMATCHER_CLASS = "org.springframework.web.util.pattern.PathPatternRouteMatcher";
+
 	@Bean
 	@ConditionalOnMissingBean
 	public MessageHandlerAcceptor messageHandlerAcceptor(
 			RSocketStrategies rSocketStrategies) {
 		MessageHandlerAcceptor acceptor = new MessageHandlerAcceptor();
 		acceptor.setRSocketStrategies(rSocketStrategies);
+		if (ClassUtils.isPresent(PATHPATTERN_ROUTEMATCHER_CLASS, null)) {
+			PathPatternParser parser = new PathPatternParser();
+			parser.setSeparator('.');
+			acceptor.setRouteMatcher(new PathPatternRouteMatcher(parser));
+		}
 		return acceptor;
 	}
 
diff --git a/spring-boot-project/spring-boot-autoconfigure/src/test/java/org/springframework/boot/autoconfigure/rsocket/RSocketMessagingAutoConfigurationTests.java b/spring-boot-project/spring-boot-autoconfigure/src/test/java/org/springframework/boot/autoconfigure/rsocket/RSocketMessagingAutoConfigurationTests.java
index 8fd67d0e5b..25f4d88032 100644
--- a/spring-boot-project/spring-boot-autoconfigure/src/test/java/org/springframework/boot/autoconfigure/rsocket/RSocketMessagingAutoConfigurationTests.java
+++ b/spring-boot-project/spring-boot-autoconfigure/src/test/java/org/springframework/boot/autoconfigure/rsocket/RSocketMessagingAutoConfigurationTests.java
@@ -26,6 +26,7 @@ import org.springframework.core.codec.CharSequenceEncoder;
 import org.springframework.core.codec.StringDecoder;
 import org.springframework.messaging.rsocket.MessageHandlerAcceptor;
 import org.springframework.messaging.rsocket.RSocketStrategies;
+import org.springframework.web.util.pattern.PathPatternRouteMatcher;
 
 import static org.assertj.core.api.Assertions.assertThat;
 
@@ -43,8 +44,11 @@ public class RSocketMessagingAutoConfigurationTests {
 
 	@Test
 	public void shouldCreateDefaultBeans() {
-		this.contextRunner.run((context) -> assertThat(context)
-				.getBeans(MessageHandlerAcceptor.class).hasSize(1));
+		this.contextRunner.run((context) -> {
+			assertThat(context).getBeans(MessageHandlerAcceptor.class).hasSize(1);
+			assertThat(context.getBean(MessageHandlerAcceptor.class).getRouteMatcher())
+					.isInstanceOf(PathPatternRouteMatcher.class);
+		});
 	}
 
 	@Test