diff --git a/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/java/org/springframework/boot/actuate/autoconfigure/endpoint/jmx/JmxEndpointAutoConfiguration.java b/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/java/org/springframework/boot/actuate/autoconfigure/endpoint/jmx/JmxEndpointAutoConfiguration.java
index 5f69c529d3..4615c69d85 100644
--- a/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/java/org/springframework/boot/actuate/autoconfigure/endpoint/jmx/JmxEndpointAutoConfiguration.java
+++ b/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/java/org/springframework/boot/actuate/autoconfigure/endpoint/jmx/JmxEndpointAutoConfiguration.java
@@ -23,6 +23,7 @@ import javax.management.MBeanServer;
 import com.fasterxml.jackson.databind.ObjectMapper;
 
 import org.springframework.beans.factory.ObjectProvider;
+import org.springframework.boot.LazyInitializationExcludeFilter;
 import org.springframework.boot.actuate.autoconfigure.endpoint.EndpointAutoConfiguration;
 import org.springframework.boot.actuate.autoconfigure.endpoint.expose.IncludeExcludeEndpointFilter;
 import org.springframework.boot.actuate.endpoint.EndpointFilter;
@@ -110,4 +111,9 @@ public class JmxEndpointAutoConfiguration {
 				exposure.getExclude(), "*");
 	}
 
+	@Bean
+	static LazyInitializationExcludeFilter eagerlyInitializeJmxEndpointExporter() {
+		return LazyInitializationExcludeFilter.forBeanTypes(JmxEndpointExporter.class);
+	}
+
 }
diff --git a/spring-boot-project/spring-boot-actuator-autoconfigure/src/test/java/org/springframework/boot/actuate/autoconfigure/integrationtest/JmxEndpointIntegrationTests.java b/spring-boot-project/spring-boot-actuator-autoconfigure/src/test/java/org/springframework/boot/actuate/autoconfigure/integrationtest/JmxEndpointIntegrationTests.java
index f63c65df78..1db1217918 100644
--- a/spring-boot-project/spring-boot-actuator-autoconfigure/src/test/java/org/springframework/boot/actuate/autoconfigure/integrationtest/JmxEndpointIntegrationTests.java
+++ b/spring-boot-project/spring-boot-actuator-autoconfigure/src/test/java/org/springframework/boot/actuate/autoconfigure/integrationtest/JmxEndpointIntegrationTests.java
@@ -1,5 +1,5 @@
 /*
- * Copyright 2012-2019 the original author or authors.
+ * Copyright 2012-2021 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.
@@ -26,6 +26,7 @@ import javax.management.ReflectionException;
 
 import org.junit.jupiter.api.Test;
 
+import org.springframework.boot.LazyInitializationBeanFactoryPostProcessor;
 import org.springframework.boot.actuate.audit.InMemoryAuditEventRepository;
 import org.springframework.boot.actuate.autoconfigure.endpoint.EndpointAutoConfiguration;
 import org.springframework.boot.actuate.autoconfigure.endpoint.jmx.JmxEndpointAutoConfiguration;
@@ -66,6 +67,16 @@ class JmxEndpointIntegrationTests {
 		});
 	}
 
+	@Test
+	void jmxEndpointsAreExposedWhenLazyInitializationIsEnabled() {
+		this.contextRunner.withBean(LazyInitializationBeanFactoryPostProcessor.class,
+				LazyInitializationBeanFactoryPostProcessor::new).run((context) -> {
+					MBeanServer mBeanServer = context.getBean(MBeanServer.class);
+					checkEndpointMBeans(mBeanServer, new String[] { "beans", "conditions", "configprops", "env",
+							"health", "info", "mappings", "threaddump", "httptrace" }, new String[] { "shutdown" });
+				});
+	}
+
 	@Test
 	void jmxEndpointsCanBeExcluded() {
 		this.contextRunner.withPropertyValues("management.endpoints.jmx.exposure.exclude:*").run((context) -> {