diff --git a/spring-boot-project/spring-boot-autoconfigure/build.gradle b/spring-boot-project/spring-boot-autoconfigure/build.gradle
index 456481a5ac..c5cfa8171c 100644
--- a/spring-boot-project/spring-boot-autoconfigure/build.gradle
+++ b/spring-boot-project/spring-boot-autoconfigure/build.gradle
@@ -198,6 +198,7 @@ dependencies {
 	optional("org.springframework.security:spring-security-oauth2-jose")
 	optional("org.springframework.security:spring-security-oauth2-resource-server")
 	optional("org.springframework.security:spring-security-rsocket")
+	optional("org.springframework.security:spring-security-messaging")
 	optional("org.springframework.security:spring-security-saml2-service-provider")
 	optional("org.springframework.security:spring-security-web")
 	optional("org.springframework.session:spring-session-core")
diff --git a/spring-boot-project/spring-boot-autoconfigure/src/main/java/org/springframework/boot/autoconfigure/security/rsocket/RSocketSecurityAutoConfiguration.java b/spring-boot-project/spring-boot-autoconfigure/src/main/java/org/springframework/boot/autoconfigure/security/rsocket/RSocketSecurityAutoConfiguration.java
index 69235ed362..06d20db59d 100644
--- a/spring-boot-project/spring-boot-autoconfigure/src/main/java/org/springframework/boot/autoconfigure/security/rsocket/RSocketSecurityAutoConfiguration.java
+++ b/spring-boot-project/spring-boot-autoconfigure/src/main/java/org/springframework/boot/autoconfigure/security/rsocket/RSocketSecurityAutoConfiguration.java
@@ -1,5 +1,5 @@
 /*
- * Copyright 2012-2020 the original author or authors.
+ * Copyright 2012-2022 the original author or authors.
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -18,10 +18,12 @@ package org.springframework.boot.autoconfigure.security.rsocket;
 
 import org.springframework.boot.autoconfigure.EnableAutoConfiguration;
 import org.springframework.boot.autoconfigure.condition.ConditionalOnClass;
+import org.springframework.boot.autoconfigure.rsocket.RSocketMessageHandlerCustomizer;
 import org.springframework.boot.rsocket.server.RSocketServerCustomizer;
 import org.springframework.context.annotation.Bean;
 import org.springframework.context.annotation.Configuration;
 import org.springframework.security.config.annotation.rsocket.EnableRSocketSecurity;
+import org.springframework.security.messaging.handler.invocation.reactive.AuthenticationPrincipalArgumentResolver;
 import org.springframework.security.rsocket.core.SecuritySocketAcceptorInterceptor;
 
 /**
@@ -30,6 +32,7 @@ import org.springframework.security.rsocket.core.SecuritySocketAcceptorIntercept
  *
  * @author Madhura Bhave
  * @author Brian Clozel
+ * @author Guirong Hu
  * @since 2.2.0
  */
 @Configuration(proxyBeanMethods = false)
@@ -42,4 +45,16 @@ public class RSocketSecurityAutoConfiguration {
 		return (server) -> server.interceptors((registry) -> registry.forSocketAcceptor(interceptor));
 	}
 
+	@ConditionalOnClass(AuthenticationPrincipalArgumentResolver.class)
+	@Configuration(proxyBeanMethods = false)
+	static class RSocketSecurityMessageHandlerConfiguration {
+
+		@Bean
+		RSocketMessageHandlerCustomizer springSecurityRSocketMessageHandler() {
+			return (messageHandler) -> messageHandler.getArgumentResolverConfigurer()
+					.addCustomResolver(new AuthenticationPrincipalArgumentResolver());
+		}
+
+	}
+
 }
diff --git a/spring-boot-project/spring-boot-autoconfigure/src/test/java/org/springframework/boot/autoconfigure/security/rsocket/RSocketSecurityAutoConfigurationTests.java b/spring-boot-project/spring-boot-autoconfigure/src/test/java/org/springframework/boot/autoconfigure/security/rsocket/RSocketSecurityAutoConfigurationTests.java
index 8b6f2411dc..f4ea2bdc82 100644
--- a/spring-boot-project/spring-boot-autoconfigure/src/test/java/org/springframework/boot/autoconfigure/security/rsocket/RSocketSecurityAutoConfigurationTests.java
+++ b/spring-boot-project/spring-boot-autoconfigure/src/test/java/org/springframework/boot/autoconfigure/security/rsocket/RSocketSecurityAutoConfigurationTests.java
@@ -1,5 +1,5 @@
 /*
- * Copyright 2012-2020 the original author or authors.
+ * Copyright 2012-2022 the original author or authors.
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -16,17 +16,23 @@
 
 package org.springframework.boot.autoconfigure.security.rsocket;
 
+import java.util.List;
+
 import io.rsocket.core.RSocketServer;
 import org.junit.jupiter.api.Test;
 
 import org.springframework.boot.autoconfigure.AutoConfigurations;
+import org.springframework.boot.autoconfigure.rsocket.RSocketMessageHandlerCustomizer;
 import org.springframework.boot.autoconfigure.rsocket.RSocketMessagingAutoConfiguration;
 import org.springframework.boot.autoconfigure.rsocket.RSocketStrategiesAutoConfiguration;
 import org.springframework.boot.autoconfigure.security.reactive.ReactiveUserDetailsServiceAutoConfiguration;
 import org.springframework.boot.rsocket.server.RSocketServerCustomizer;
 import org.springframework.boot.test.context.FilteredClassLoader;
 import org.springframework.boot.test.context.runner.ApplicationContextRunner;
+import org.springframework.messaging.handler.invocation.reactive.HandlerMethodArgumentResolver;
+import org.springframework.messaging.rsocket.annotation.support.RSocketMessageHandler;
 import org.springframework.security.config.annotation.rsocket.RSocketSecurity;
+import org.springframework.security.messaging.handler.invocation.reactive.AuthenticationPrincipalArgumentResolver;
 import org.springframework.security.rsocket.core.SecuritySocketAcceptorInterceptor;
 
 import static org.assertj.core.api.Assertions.assertThat;
@@ -69,4 +75,19 @@ class RSocketSecurityAutoConfigurationTests {
 		});
 	}
 
+	@Test
+	void autoConfigurationAddsCustomizerForMessageHandlerRSocketFactory() {
+		RSocketMessageHandler handler = new RSocketMessageHandler();
+		this.contextRunner.run((context) -> {
+			RSocketMessageHandlerCustomizer customizer = context.getBean(RSocketMessageHandlerCustomizer.class);
+			customizer.customize(handler);
+
+			List<HandlerMethodArgumentResolver> customResolvers = handler.getArgumentResolverConfigurer()
+					.getCustomResolvers();
+			assertThat(customResolvers).isNotEmpty();
+			assertThat(customResolvers)
+					.anyMatch((customResolver) -> customResolver instanceof AuthenticationPrincipalArgumentResolver);
+		});
+	}
+
 }