diff --git a/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/java/org/springframework/boot/actuate/autoconfigure/endpoint/ExposeExcludePropertyEndpointFilter.java b/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/java/org/springframework/boot/actuate/autoconfigure/endpoint/ExposeExcludePropertyEndpointFilter.java
index c435e84d94..0504d89031 100644
--- a/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/java/org/springframework/boot/actuate/autoconfigure/endpoint/ExposeExcludePropertyEndpointFilter.java
+++ b/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/java/org/springframework/boot/actuate/autoconfigure/endpoint/ExposeExcludePropertyEndpointFilter.java
@@ -21,11 +21,13 @@ import java.util.Arrays;
 import java.util.Collection;
 import java.util.Collections;
 import java.util.HashSet;
+import java.util.List;
 import java.util.Locale;
 import java.util.Set;
 import java.util.stream.Collectors;
 
 import org.springframework.boot.actuate.endpoint.EndpointFilter;
+import org.springframework.boot.actuate.endpoint.EndpointId;
 import org.springframework.boot.actuate.endpoint.ExposableEndpoint;
 import org.springframework.boot.context.properties.bind.Bindable;
 import org.springframework.boot.context.properties.bind.Binder;
@@ -74,10 +76,19 @@ public class ExposeExcludePropertyEndpointFilter<E extends ExposableEndpoint<?>>
 	}
 
 	private Set<String> bind(Binder binder, String name) {
-		return asSet(binder.bind(name, Bindable.listOf(String.class))
+		return asSet(binder.bind(name, Bindable.listOf(String.class)).map(this::cleanup)
 				.orElseGet(ArrayList::new));
 	}
 
+	private List<String> cleanup(List<String> values) {
+		return values.stream().map(this::cleanup).collect(Collectors.toList());
+	}
+
+	private String cleanup(String value) {
+		return "*".equals(value) ? "*"
+				: EndpointId.fromPropertyValue(value).toLowerCaseString();
+	}
+
 	private Set<String> asSet(Collection<String> items) {
 		if (items == null) {
 			return Collections.emptySet();
diff --git a/spring-boot-project/spring-boot-actuator-autoconfigure/src/test/java/org/springframework/boot/actuate/autoconfigure/endpoint/ExposeExcludePropertyEndpointFilterTests.java b/spring-boot-project/spring-boot-actuator-autoconfigure/src/test/java/org/springframework/boot/actuate/autoconfigure/endpoint/ExposeExcludePropertyEndpointFilterTests.java
index e386c989a2..98baeb8c59 100644
--- a/spring-boot-project/spring-boot-actuator-autoconfigure/src/test/java/org/springframework/boot/actuate/autoconfigure/endpoint/ExposeExcludePropertyEndpointFilterTests.java
+++ b/spring-boot-project/spring-boot-actuator-autoconfigure/src/test/java/org/springframework/boot/actuate/autoconfigure/endpoint/ExposeExcludePropertyEndpointFilterTests.java
@@ -147,6 +147,12 @@ public class ExposeExcludePropertyEndpointFilterTests {
 		assertThat(match(EndpointId.of("buz"))).isFalse();
 	}
 
+	@Test
+	public void matchWhenMixedCaseShouldMatch() {
+		setupFilter("foo-bar", "");
+		assertThat(match(EndpointId.of("fooBar"))).isTrue();
+	}
+
 	private void setupFilter(String include, String exclude) {
 		MockEnvironment environment = new MockEnvironment();
 		environment.setProperty("foo.include", include);
diff --git a/spring-boot-project/spring-boot-actuator/src/main/java/org/springframework/boot/actuate/endpoint/EndpointId.java b/spring-boot-project/spring-boot-actuator/src/main/java/org/springframework/boot/actuate/endpoint/EndpointId.java
index 246ff3c29d..bb52d75bf9 100644
--- a/spring-boot-project/spring-boot-actuator/src/main/java/org/springframework/boot/actuate/endpoint/EndpointId.java
+++ b/spring-boot-project/spring-boot-actuator/src/main/java/org/springframework/boot/actuate/endpoint/EndpointId.java
@@ -87,4 +87,14 @@ public final class EndpointId {
 		return new EndpointId(value);
 	}
 
+	/**
+	 * Factory method to create a new {@link EndpointId} from a property value. Is more
+	 * lenient that {@link #of(String)} to allow for common "relaxed" property variants.
+	 * @param value the property value to convert
+	 * @return an {@link EndpointId} instance
+	 */
+	public static EndpointId fromPropertyValue(String value) {
+		return new EndpointId(value.replace("-", ""));
+	}
+
 }
diff --git a/spring-boot-project/spring-boot-actuator/src/test/java/org/springframework/boot/actuate/endpoint/EndpointIdTests.java b/spring-boot-project/spring-boot-actuator/src/test/java/org/springframework/boot/actuate/endpoint/EndpointIdTests.java
index 9c11e8f2ef..7f085211b0 100644
--- a/spring-boot-project/spring-boot-actuator/src/test/java/org/springframework/boot/actuate/endpoint/EndpointIdTests.java
+++ b/spring-boot-project/spring-boot-actuator/src/test/java/org/springframework/boot/actuate/endpoint/EndpointIdTests.java
@@ -93,4 +93,10 @@ public class EndpointIdTests {
 		assertThat(EndpointId.of("fooBar").toString()).isEqualTo("fooBar");
 	}
 
+	@Test
+	public void fromPropertyValueStripsDashes() {
+		EndpointId fromPropertyValue = EndpointId.fromPropertyValue("foo-bar");
+		assertThat(fromPropertyValue).isEqualTo(EndpointId.of("fooBar"));
+	}
+
 }