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 a57a5fdbf0..bee0dedb86 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
@@ -198,7 +198,7 @@ public final class EndpointRequest {
 			if (this.includeLinks
 					&& StringUtils.hasText(pathMappedEndpoints.getBasePath())) {
 				delegateMatchers.add(new AntPathRequestMatcher(
-						servletPath + pathMappedEndpoints.getBasePath()));
+						computePath(servletPath, pathMappedEndpoints.getBasePath())));
 			}
 			return new OrRequestMatcher(delegateMatchers);
 		}
@@ -229,10 +229,17 @@ public final class EndpointRequest {
 		private List<RequestMatcher> getDelegateMatchers(String servletPath,
 				Set<String> paths) {
 			return paths.stream()
-					.map((path) -> new AntPathRequestMatcher(servletPath + path + "/**"))
+					.map((path) -> new AntPathRequestMatcher(computePath(servletPath, path) + "/**"))
 					.collect(Collectors.toList());
 		}
 
+		private String computePath(String servletPath, String path) {
+			if (servletPath.equals("/")) {
+				return path;
+			}
+			return servletPath + path;
+		}
+
 		@Override
 		protected boolean matches(HttpServletRequest request,
 				Supplier<WebApplicationContext> context) {
@@ -272,11 +279,18 @@ public final class EndpointRequest {
 		private RequestMatcher createDelegate(String path,
 				WebEndpointProperties properties) {
 			if (StringUtils.hasText(properties.getBasePath())) {
-				return new AntPathRequestMatcher(path + properties.getBasePath());
+				return new AntPathRequestMatcher(computePath(path, properties.getBasePath()));
 			}
 			return EMPTY_MATCHER;
 		}
 
+		private String computePath(String servletPath, String path) {
+			if (servletPath.equals("/")) {
+				return path;
+			}
+			return servletPath + path;
+		}
+
 		@Override
 		protected boolean matches(HttpServletRequest request,
 				Supplier<WebApplicationContext> context) {
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 9c4dd82429..603855861b 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
@@ -52,9 +52,9 @@ public class EndpointRequestTests {
 	@Test
 	public void toAnyEndpointShouldMatchEndpointPath() {
 		RequestMatcher matcher = EndpointRequest.toAnyEndpoint();
-		assertMatcher(matcher).matches("/actuator/foo");
-		assertMatcher(matcher).matches("/actuator/bar");
-		assertMatcher(matcher).matches("/actuator");
+		assertMatcher(matcher, "/actuator", "/").matches("/actuator/foo");
+		assertMatcher(matcher, "/actuator", "/").matches("/actuator/bar");
+		assertMatcher(matcher, "/actuator", "/").matches("/actuator");
 	}
 
 	@Test