diff --git a/spring-boot-project/spring-boot/src/main/java/org/springframework/boot/web/embedded/undertow/UndertowServletWebServerFactory.java b/spring-boot-project/spring-boot/src/main/java/org/springframework/boot/web/embedded/undertow/UndertowServletWebServerFactory.java
index 8b7923bb82..8dc3b442e4 100644
--- a/spring-boot-project/spring-boot/src/main/java/org/springframework/boot/web/embedded/undertow/UndertowServletWebServerFactory.java
+++ b/spring-boot-project/spring-boot/src/main/java/org/springframework/boot/web/embedded/undertow/UndertowServletWebServerFactory.java
@@ -18,8 +18,8 @@ package org.springframework.boot.web.embedded.undertow;
 
 import java.io.File;
 import java.io.IOException;
-import java.net.MalformedURLException;
 import java.net.URL;
+import java.net.URLEncoder;
 import java.time.Duration;
 import java.util.ArrayList;
 import java.util.Arrays;
@@ -33,6 +33,7 @@ import java.util.Locale;
 import java.util.Map;
 import java.util.Set;
 import java.util.concurrent.TimeUnit;
+import java.util.regex.Pattern;
 
 import javax.servlet.ServletContainerInitializer;
 import javax.servlet.ServletContext;
@@ -95,6 +96,8 @@ import org.springframework.util.Assert;
 public class UndertowServletWebServerFactory extends AbstractServletWebServerFactory
 		implements ConfigurableUndertowWebServerFactory, ResourceLoaderAware {
 
+	private static final Pattern ENCODED_SLASH = Pattern.compile("%2F", Pattern.LITERAL);
+
 	private static final Set<Class<?>> NO_CLASSES = Collections.emptySet();
 
 	private Set<UndertowBuilderCustomizer> builderCustomizers = new LinkedHashSet<>();
@@ -583,14 +586,15 @@ public class UndertowServletWebServerFactory extends AbstractServletWebServerFac
 
 		private URLResource getMetaInfResource(URL resourceJar, String path) {
 			try {
-				URL resourceUrl = new URL(resourceJar + "META-INF/resources" + path);
+				String urlPath = URLEncoder.encode(ENCODED_SLASH.matcher(path).replaceAll("/"), "UTF-8");
+				URL resourceUrl = new URL(resourceJar + "META-INF/resources" + urlPath);
 				URLResource resource = new URLResource(resourceUrl, path);
 				if (resource.getContentLength() < 0) {
 					return null;
 				}
 				return resource;
 			}
-			catch (MalformedURLException ex) {
+			catch (Exception ex) {
 				return null;
 			}
 		}
diff --git a/spring-boot-tests/spring-boot-integration-tests/spring-boot-server-tests/src/test/java/org/springframework/boot/context/embedded/ApplicationBuilder.java b/spring-boot-tests/spring-boot-integration-tests/spring-boot-server-tests/src/test/java/org/springframework/boot/context/embedded/ApplicationBuilder.java
index 5ef76574cc..cb8c483998 100644
--- a/spring-boot-tests/spring-boot-integration-tests/spring-boot-server-tests/src/test/java/org/springframework/boot/context/embedded/ApplicationBuilder.java
+++ b/spring-boot-tests/spring-boot-integration-tests/spring-boot-server-tests/src/test/java/org/springframework/boot/context/embedded/ApplicationBuilder.java
@@ -98,6 +98,10 @@ class ApplicationBuilder {
 			resourcesJarStream.putNextEntry(new ZipEntry("META-INF/resources/nested-meta-inf-resource.txt"));
 			resourcesJarStream.write("nested".getBytes());
 			resourcesJarStream.closeEntry();
+			resourcesJarStream.putNextEntry(
+					new ZipEntry("META-INF/resources/nested-reserved-!#$%&()*+,:=?@[]-meta-inf-resource.txt"));
+			resourcesJarStream.write("encoded-name".getBytes());
+			resourcesJarStream.closeEntry();
 			return resourcesJar;
 		}
 	}
diff --git a/spring-boot-tests/spring-boot-integration-tests/spring-boot-server-tests/src/test/java/org/springframework/boot/context/embedded/EmbeddedServletContainerJarDevelopmentIntegrationTests.java b/spring-boot-tests/spring-boot-integration-tests/spring-boot-server-tests/src/test/java/org/springframework/boot/context/embedded/EmbeddedServletContainerJarDevelopmentIntegrationTests.java
index 54174d20e4..3e08be3e0c 100644
--- a/spring-boot-tests/spring-boot-integration-tests/spring-boot-server-tests/src/test/java/org/springframework/boot/context/embedded/EmbeddedServletContainerJarDevelopmentIntegrationTests.java
+++ b/spring-boot-tests/spring-boot-integration-tests/spring-boot-server-tests/src/test/java/org/springframework/boot/context/embedded/EmbeddedServletContainerJarDevelopmentIntegrationTests.java
@@ -40,6 +40,16 @@ public class EmbeddedServletContainerJarDevelopmentIntegrationTests {
 		assertThat(entity.getStatusCode()).isEqualTo(HttpStatus.OK);
 	}
 
+	@TestTemplate
+	public void metaInfResourceFromDependencyWithNameThatContainsReservedCharactersIsAvailableViaHttp(
+			RestTemplate rest) {
+		ResponseEntity<String> entity = rest.getForEntity(
+				"/nested-reserved-%21%23%24%25%26%28%29%2A%2B%2C%3A%3D%3F%40%5B%5D-meta-inf-resource.txt",
+				String.class);
+		assertThat(entity.getStatusCode()).isEqualTo(HttpStatus.OK);
+		assertThat(entity.getBody()).isEqualTo("encoded-name");
+	}
+
 	@TestTemplate
 	public void metaInfResourceFromDependencyIsAvailableViaServletContext(RestTemplate rest) {
 		ResponseEntity<String> entity = rest.getForEntity("/servletContext?/nested-meta-inf-resource.txt",
diff --git a/spring-boot-tests/spring-boot-integration-tests/spring-boot-server-tests/src/test/java/org/springframework/boot/context/embedded/EmbeddedServletContainerJarPackagingIntegrationTests.java b/spring-boot-tests/spring-boot-integration-tests/spring-boot-server-tests/src/test/java/org/springframework/boot/context/embedded/EmbeddedServletContainerJarPackagingIntegrationTests.java
index 04b0c5f2b5..740bd2dd2c 100644
--- a/spring-boot-tests/spring-boot-integration-tests/spring-boot-server-tests/src/test/java/org/springframework/boot/context/embedded/EmbeddedServletContainerJarPackagingIntegrationTests.java
+++ b/spring-boot-tests/spring-boot-integration-tests/spring-boot-server-tests/src/test/java/org/springframework/boot/context/embedded/EmbeddedServletContainerJarPackagingIntegrationTests.java
@@ -40,6 +40,15 @@ public class EmbeddedServletContainerJarPackagingIntegrationTests {
 		assertThat(entity.getStatusCode()).isEqualTo(HttpStatus.OK);
 	}
 
+	@TestTemplate
+	public void nestedMetaInfResourceWithNameThatContainsReservedCharactersIsAvailableViaHttp(RestTemplate rest) {
+		ResponseEntity<String> entity = rest.getForEntity(
+				"/nested-reserved-%21%23%24%25%26%28%29%2A%2B%2C%3A%3D%3F%40%5B%5D-meta-inf-resource.txt",
+				String.class);
+		assertThat(entity.getStatusCode()).isEqualTo(HttpStatus.OK);
+		assertThat(entity.getBody()).isEqualTo("encoded-name");
+	}
+
 	@TestTemplate
 	public void nestedMetaInfResourceIsAvailableViaServletContext(RestTemplate rest) {
 		ResponseEntity<String> entity = rest.getForEntity("/servletContext?/nested-meta-inf-resource.txt",
diff --git a/spring-boot-tests/spring-boot-integration-tests/spring-boot-server-tests/src/test/java/org/springframework/boot/context/embedded/EmbeddedServletContainerWarDevelopmentIntegrationTests.java b/spring-boot-tests/spring-boot-integration-tests/spring-boot-server-tests/src/test/java/org/springframework/boot/context/embedded/EmbeddedServletContainerWarDevelopmentIntegrationTests.java
index 9b17e56394..14129dfcb4 100644
--- a/spring-boot-tests/spring-boot-integration-tests/spring-boot-server-tests/src/test/java/org/springframework/boot/context/embedded/EmbeddedServletContainerWarDevelopmentIntegrationTests.java
+++ b/spring-boot-tests/spring-boot-integration-tests/spring-boot-server-tests/src/test/java/org/springframework/boot/context/embedded/EmbeddedServletContainerWarDevelopmentIntegrationTests.java
@@ -47,6 +47,16 @@ public class EmbeddedServletContainerWarDevelopmentIntegrationTests {
 		assertThat(entity.getStatusCode()).isEqualTo(HttpStatus.OK);
 	}
 
+	@TestTemplate
+	public void metaInfResourceFromDependencyWithNameThatContainsReservedCharactersIsAvailableViaHttp(
+			RestTemplate rest) {
+		ResponseEntity<String> entity = rest.getForEntity(
+				"/nested-reserved-%21%23%24%25%26%28%29%2A%2B%2C%3A%3D%3F%40%5B%5D-meta-inf-resource.txt",
+				String.class);
+		assertThat(entity.getStatusCode()).isEqualTo(HttpStatus.OK);
+		assertThat(entity.getBody()).isEqualTo("encoded-name");
+	}
+
 	@TestTemplate
 	public void metaInfResourceFromDependencyIsAvailableViaServletContext(RestTemplate rest) {
 		ResponseEntity<String> entity = rest.getForEntity("/servletContext?/nested-meta-inf-resource.txt",
diff --git a/spring-boot-tests/spring-boot-integration-tests/spring-boot-server-tests/src/test/java/org/springframework/boot/context/embedded/EmbeddedServletContainerWarPackagingIntegrationTests.java b/spring-boot-tests/spring-boot-integration-tests/spring-boot-server-tests/src/test/java/org/springframework/boot/context/embedded/EmbeddedServletContainerWarPackagingIntegrationTests.java
index f700c4305a..bd7cc699f5 100644
--- a/spring-boot-tests/spring-boot-integration-tests/spring-boot-server-tests/src/test/java/org/springframework/boot/context/embedded/EmbeddedServletContainerWarPackagingIntegrationTests.java
+++ b/spring-boot-tests/spring-boot-integration-tests/spring-boot-server-tests/src/test/java/org/springframework/boot/context/embedded/EmbeddedServletContainerWarPackagingIntegrationTests.java
@@ -47,6 +47,15 @@ public class EmbeddedServletContainerWarPackagingIntegrationTests {
 		assertThat(entity.getStatusCode()).isEqualTo(HttpStatus.OK);
 	}
 
+	@TestTemplate
+	public void nestedMetaInfResourceWithNameThatContainsReservedCharactersIsAvailableViaHttp(RestTemplate rest) {
+		ResponseEntity<String> entity = rest.getForEntity(
+				"/nested-reserved-%21%23%24%25%26%28%29%2A%2B%2C%3A%3D%3F%40%5B%5D-meta-inf-resource.txt",
+				String.class);
+		assertThat(entity.getStatusCode()).isEqualTo(HttpStatus.OK);
+		assertThat(entity.getBody()).isEqualTo("encoded-name");
+	}
+
 	@TestTemplate
 	public void nestedMetaInfResourceIsAvailableViaServletContext(RestTemplate rest) {
 		ResponseEntity<String> entity = rest.getForEntity("/servletContext?/nested-meta-inf-resource.txt",