diff --git a/spring-core/src/main/java/org/springframework/util/StringUtils.java b/spring-core/src/main/java/org/springframework/util/StringUtils.java
index c76ce4c9ef..b2a2633fe2 100644
--- a/spring-core/src/main/java/org/springframework/util/StringUtils.java
+++ b/spring-core/src/main/java/org/springframework/util/StringUtils.java
@@ -800,32 +800,27 @@ public abstract class StringUtils {
 	}
 
 	/**
-	 * Decode the given encoded URI component value. Based on the following rules:
-	 * <ul>
-	 * <li>Alphanumeric characters {@code "a"} through {@code "z"}, {@code "A"} through {@code "Z"},
-	 * and {@code "0"} through {@code "9"} stay the same.</li>
-	 * <li>Special characters {@code "-"}, {@code "_"}, {@code "."}, and {@code "*"} stay the same.</li>
-	 * <li>A sequence "<i>{@code %xy}</i>" is interpreted as a hexadecimal representation of the character.</li>
-	 * <li>For all other characters (including those already decoded), the output is undefined.</li>
-	 * </ul>
-	 * @param source the encoded String
-	 * @param charset the character set
+	 * Decode the given encoded URI component value by replacing "<i>{@code %xy}</i>" sequences
+	 * by an hexadecimal representation of the character in the specified charset, letting other
+	 * characters unchanged.
+	 * @param source the encoded {@code String}
+	 * @param charset the character encoding to use to decode the "<i>{@code %xy}</i>" sequences
 	 * @return the decoded value
 	 * @throws IllegalArgumentException when the given source contains invalid encoded sequences
 	 * @since 5.0
-	 * @see java.net.URLDecoder#decode(String, String)
+	 * @see java.net.URLDecoder#decode(String, String) java.net.URLDecoder#decode for HTML form decoding
 	 */
 	public static String uriDecode(String source, Charset charset) {
-		Assert.notNull(charset, "Charset must not be null");
 		int length = source.length();
-		if (length == 0) {
+		int firstPercentIndex = source.indexOf('%');
+		if (length == 0 || firstPercentIndex < 0) {
 			return source;
 		}
 
 		StringBuilder output = new StringBuilder(length);
-		boolean changed = false;
+		output.append(source, 0, firstPercentIndex);
 		byte[] bytes = null;
-		int i = 0;
+		int i = firstPercentIndex;
 		while (i < length) {
 			char ch = source.charAt(i);
 			if (ch == '%') {
@@ -848,7 +843,6 @@ public abstract class StringUtils {
 					}
 
 					output.append(new String(bytes, 0, pos, charset));
-					changed = true;
 				}
 				catch (NumberFormatException ex) {
 					throw new IllegalArgumentException("Invalid encoded sequence \"" + source.substring(i) + "\"");
@@ -859,7 +853,7 @@ public abstract class StringUtils {
 				i++;
 			}
 		}
-		return (changed ? output.toString() : source);
+		return output.toString();
 	}
 
 	/**
diff --git a/spring-web/src/main/java/org/springframework/web/util/UriUtils.java b/spring-web/src/main/java/org/springframework/web/util/UriUtils.java
index de159baad4..a0ef085a07 100644
--- a/spring-web/src/main/java/org/springframework/web/util/UriUtils.java
+++ b/spring-web/src/main/java/org/springframework/web/util/UriUtils.java
@@ -1,5 +1,5 @@
 /*
- * Copyright 2002-2023 the original author or authors.
+ * Copyright 2002-2025 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.
@@ -374,15 +374,16 @@ public abstract class UriUtils {
 	}
 
 	/**
-	 * Decode the given encoded URI component.
-	 * <p>See {@link StringUtils#uriDecode(String, Charset)} for the decoding rules.
-	 * @param source the encoded String
-	 * @param charset the character encoding to use
+	 * Decode the given encoded URI component value by replacing "<i>{@code %xy}</i>" sequences
+	 * by an hexadecimal representation of the character in the specified charset, letting other
+	 * characters unchanged.
+	 * @param source the encoded {@code String}
+	 * @param charset the character encoding to use to decode the "<i>{@code %xy}</i>" sequences
 	 * @return the decoded value
 	 * @throws IllegalArgumentException when the given source contains invalid encoded sequences
 	 * @since 5.0
 	 * @see StringUtils#uriDecode(String, Charset)
-	 * @see java.net.URLDecoder#decode(String, String)
+	 * @see java.net.URLDecoder#decode(String, String) java.net.URLDecoder#decode for HTML form decoding
 	 */
 	public static String decode(String source, Charset charset) {
 		return StringUtils.uriDecode(source, charset);
diff --git a/spring-web/src/test/java/org/springframework/web/util/UriUtilsTests.java b/spring-web/src/test/java/org/springframework/web/util/UriUtilsTests.java
index 4edcd64430..edb148b6ea 100644
--- a/spring-web/src/test/java/org/springframework/web/util/UriUtilsTests.java
+++ b/spring-web/src/test/java/org/springframework/web/util/UriUtilsTests.java
@@ -1,5 +1,5 @@
 /*
- * Copyright 2002-2024 the original author or authors.
+ * Copyright 2002-2025 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.
@@ -108,6 +108,8 @@ class UriUtilsTests {
 		assertThat(UriUtils.decode("/Z%C3%BCrich", CHARSET)).as("Invalid encoded result").isEqualTo("/Z\u00fcrich");
 		assertThat(UriUtils.decode("T\u014dky\u014d", CHARSET)).as("Invalid encoded result").isEqualTo("T\u014dky\u014d");
 		assertThat(UriUtils.decode("%20\u2019", CHARSET)).as("Invalid encoded result").isEqualTo(" \u2019");
+		assertThat(UriUtils.decode("\u015bp\u0159\u00ec\u0144\u0121", CHARSET)).as("Invalid encoded result").isEqualTo("śpřìńġ");
+		assertThat(UriUtils.decode("%20\u015bp\u0159\u00ec\u0144\u0121", CHARSET)).as("Invalid encoded result").isEqualTo(" śpřìńġ");
 	}
 
 	@Test