diff --git a/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/java/org/springframework/boot/actuate/autoconfigure/endpoint/PropertiesEndpointAccessResolver.java b/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/java/org/springframework/boot/actuate/autoconfigure/endpoint/PropertiesEndpointAccessResolver.java
index 0f05abef26..681516eb84 100644
--- a/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/java/org/springframework/boot/actuate/autoconfigure/endpoint/PropertiesEndpointAccessResolver.java
+++ b/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/java/org/springframework/boot/actuate/autoconfigure/endpoint/PropertiesEndpointAccessResolver.java
@@ -80,10 +80,10 @@ public class PropertiesEndpointAccessResolver implements EndpointAccessResolver
 	@Override
 	public Access accessFor(EndpointId endpointId, Access defaultAccess) {
 		return this.accessCache.computeIfAbsent(endpointId,
-				(key) -> resolveAccess(endpointId, defaultAccess).cap(this.maxPermittedAccess));
+				(key) -> resolveAccess(endpointId.toLowerCaseString(), defaultAccess).cap(this.maxPermittedAccess));
 	}
 
-	private Access resolveAccess(EndpointId endpointId, Access defaultAccess) {
+	private Access resolveAccess(String endpointId, Access defaultAccess) {
 		String accessKey = "management.endpoint.%s.access".formatted(endpointId);
 		String enabledKey = "management.endpoint.%s.enabled".formatted(endpointId);
 		Access access = this.properties.getProperty(accessKey, Access.class);
diff --git a/spring-boot-project/spring-boot-actuator-autoconfigure/src/test/java/org/springframework/boot/actuate/autoconfigure/endpoint/PropertiesEndpointAccessResolverTests.java b/spring-boot-project/spring-boot-actuator-autoconfigure/src/test/java/org/springframework/boot/actuate/autoconfigure/endpoint/PropertiesEndpointAccessResolverTests.java
index 9907b4b712..cd15b1e6e2 100644
--- a/spring-boot-project/spring-boot-actuator-autoconfigure/src/test/java/org/springframework/boot/actuate/autoconfigure/endpoint/PropertiesEndpointAccessResolverTests.java
+++ b/spring-boot-project/spring-boot-actuator-autoconfigure/src/test/java/org/springframework/boot/actuate/autoconfigure/endpoint/PropertiesEndpointAccessResolverTests.java
@@ -20,6 +20,7 @@ import org.junit.jupiter.api.Test;
 
 import org.springframework.boot.actuate.endpoint.Access;
 import org.springframework.boot.actuate.endpoint.EndpointId;
+import org.springframework.boot.context.properties.source.ConfigurationPropertySources;
 import org.springframework.boot.context.properties.source.MutuallyExclusiveConfigurationPropertiesException;
 import org.springframework.mock.env.MockEnvironment;
 
@@ -35,6 +36,10 @@ class PropertiesEndpointAccessResolverTests {
 
 	private final MockEnvironment environment = new MockEnvironment();
 
+	PropertiesEndpointAccessResolverTests() {
+		ConfigurationPropertySources.attach(this.environment);
+	}
+
 	@Test
 	void whenNoPropertiesAreConfiguredThenAccessForReturnsEndpointsDefaultAccess() {
 		assertThat(accessResolver().accessFor(EndpointId.of("test"), Access.READ_ONLY)).isEqualTo(Access.READ_ONLY);
@@ -52,6 +57,13 @@ class PropertiesEndpointAccessResolverTests {
 		assertThat(accessResolver().accessFor(EndpointId.of("test"), Access.READ_ONLY)).isEqualTo(Access.UNRESTRICTED);
 	}
 
+	@Test
+	void whenAccessForEndpointWithCamelCaseIdIsConfiguredThenAccessForReturnsIt() {
+		this.environment.withProperty("management.endpoint.alpha-bravo.access", Access.UNRESTRICTED.name());
+		assertThat(accessResolver().accessFor(EndpointId.of("alphaBravo"), Access.READ_ONLY))
+			.isEqualTo(Access.UNRESTRICTED);
+	}
+
 	@Test
 	void whenAccessForEndpointAndDefaultAccessForAllEndpointsAreConfiguredAccessForReturnsAccessForEndpoint() {
 		this.environment.withProperty("management.endpoint.test.access", Access.NONE.name())
@@ -83,6 +95,13 @@ class PropertiesEndpointAccessResolverTests {
 		assertThat(accessResolver().accessFor(EndpointId.of("test"), Access.READ_ONLY)).isEqualTo(Access.UNRESTRICTED);
 	}
 
+	@Test
+	void whenEndpointWithCamelCaseIdIsEnabledAccessForReturnsUnrestricted() {
+		this.environment.withProperty("management.endpoint.alpha-bravo.enabled", "true");
+		assertThat(accessResolver().accessFor(EndpointId.of("alphaBravo"), Access.READ_ONLY))
+			.isEqualTo(Access.UNRESTRICTED);
+	}
+
 	@Test
 	void whenEnabledByDefaultAndDefaultAccessAreBothConfiguredResolverCreationThrows() {
 		this.environment.withProperty("management.endpoints.enabled-by-default", "true")