diff --git a/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/java/org/springframework/boot/actuate/autoconfigure/endpoint/web/MappingWebEndpointPathMapper.java b/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/java/org/springframework/boot/actuate/autoconfigure/endpoint/web/MappingWebEndpointPathMapper.java
index 64bdbf39fd..9bed06f81b 100644
--- a/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/java/org/springframework/boot/actuate/autoconfigure/endpoint/web/MappingWebEndpointPathMapper.java
+++ b/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/java/org/springframework/boot/actuate/autoconfigure/endpoint/web/MappingWebEndpointPathMapper.java
@@ -16,6 +16,7 @@
 
 package org.springframework.boot.actuate.autoconfigure.endpoint.web;
 
+import java.util.HashMap;
 import java.util.Map;
 
 import org.springframework.boot.actuate.endpoint.EndpointId;
@@ -29,10 +30,12 @@ import org.springframework.boot.actuate.endpoint.web.PathMapper;
  */
 class MappingWebEndpointPathMapper implements PathMapper {
 
-	private final Map<String, String> pathMapping;
+	private final Map<EndpointId, String> pathMapping;
 
 	MappingWebEndpointPathMapper(Map<String, String> pathMapping) {
-		this.pathMapping = pathMapping;
+		this.pathMapping = new HashMap<>();
+		pathMapping.forEach((id, path) -> this.pathMapping
+				.put(EndpointId.fromPropertyValue(id), path));
 	}
 
 	@Override
diff --git a/spring-boot-project/spring-boot-actuator-autoconfigure/src/test/java/org/springframework/boot/actuate/autoconfigure/endpoint/web/MappingWebEndpointPathMapperTests.java b/spring-boot-project/spring-boot-actuator-autoconfigure/src/test/java/org/springframework/boot/actuate/autoconfigure/endpoint/web/MappingWebEndpointPathMapperTests.java
index a16acdddbd..d9d1d0aa92 100644
--- a/spring-boot-project/spring-boot-actuator-autoconfigure/src/test/java/org/springframework/boot/actuate/autoconfigure/endpoint/web/MappingWebEndpointPathMapperTests.java
+++ b/spring-boot-project/spring-boot-actuator-autoconfigure/src/test/java/org/springframework/boot/actuate/autoconfigure/endpoint/web/MappingWebEndpointPathMapperTests.java
@@ -45,4 +45,19 @@ public class MappingWebEndpointPathMapperTests {
 		assertThat(mapper.getRootPath(EndpointId.of("test"))).isEqualTo("custom");
 	}
 
+	@Test
+	public void mixedCaseDefaultConfiguration() {
+		MappingWebEndpointPathMapper mapper = new MappingWebEndpointPathMapper(
+				Collections.emptyMap());
+		assertThat(mapper.getRootPath(EndpointId.of("testEndpoint")))
+				.isEqualTo("testendpoint");
+	}
+
+	@Test
+	public void mixedCaseUserConfiguration() {
+		MappingWebEndpointPathMapper mapper = new MappingWebEndpointPathMapper(
+				Collections.singletonMap("test-endpoint", "custom"));
+		assertThat(mapper.getRootPath(EndpointId.of("testEndpoint"))).isEqualTo("custom");
+	}
+
 }