diff --git a/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/java/org/springframework/boot/actuate/autoconfigure/security/reactive/EndpointRequest.java b/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/java/org/springframework/boot/actuate/autoconfigure/security/reactive/EndpointRequest.java
index ddd8106175..3bd7678862 100644
--- a/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/java/org/springframework/boot/actuate/autoconfigure/security/reactive/EndpointRequest.java
+++ b/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/java/org/springframework/boot/actuate/autoconfigure/security/reactive/EndpointRequest.java
@@ -125,13 +125,13 @@ public final class EndpointRequest {
 			this.excludes = excludes;
 		}
 
-		EndpointServerWebExchangeMatcher excluding(Class<?>... endpoints) {
+		public EndpointServerWebExchangeMatcher excluding(Class<?>... endpoints) {
 			List<Object> excludes = new ArrayList<>(this.excludes);
 			excludes.addAll(Arrays.asList((Object[]) endpoints));
 			return new EndpointServerWebExchangeMatcher(this.includes, excludes);
 		}
 
-		EndpointServerWebExchangeMatcher excluding(String... endpoints) {
+		public EndpointServerWebExchangeMatcher excluding(String... endpoints) {
 			List<Object> excludes = new ArrayList<>(this.excludes);
 			excludes.addAll(Arrays.asList((Object[]) endpoints));
 			return new EndpointServerWebExchangeMatcher(this.includes, excludes);
diff --git a/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/java/org/springframework/boot/actuate/autoconfigure/security/servlet/EndpointRequest.java b/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/java/org/springframework/boot/actuate/autoconfigure/security/servlet/EndpointRequest.java
index 0a0f8a71de..9c87b916f0 100644
--- a/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/java/org/springframework/boot/actuate/autoconfigure/security/servlet/EndpointRequest.java
+++ b/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/java/org/springframework/boot/actuate/autoconfigure/security/servlet/EndpointRequest.java
@@ -120,13 +120,13 @@ public final class EndpointRequest {
 			this.excludes = excludes;
 		}
 
-		EndpointRequestMatcher excluding(Class<?>... endpoints) {
+		public EndpointRequestMatcher excluding(Class<?>... endpoints) {
 			List<Object> excludes = new ArrayList<>(this.excludes);
 			excludes.addAll(Arrays.asList((Object[]) endpoints));
 			return new EndpointRequestMatcher(this.includes, excludes);
 		}
 
-		EndpointRequestMatcher excluding(String... endpoints) {
+		public EndpointRequestMatcher excluding(String... endpoints) {
 			List<Object> excludes = new ArrayList<>(this.excludes);
 			excludes.addAll(Arrays.asList((Object[]) endpoints));
 			return new EndpointRequestMatcher(this.includes, excludes);
diff --git a/spring-boot-samples/spring-boot-sample-actuator-custom-security/src/main/java/sample/actuator/customsecurity/SecurityConfiguration.java b/spring-boot-samples/spring-boot-sample-actuator-custom-security/src/main/java/sample/actuator/customsecurity/SecurityConfiguration.java
index 86fdb250e1..69ffd45d33 100644
--- a/spring-boot-samples/spring-boot-sample-actuator-custom-security/src/main/java/sample/actuator/customsecurity/SecurityConfiguration.java
+++ b/spring-boot-samples/spring-boot-sample-actuator-custom-security/src/main/java/sample/actuator/customsecurity/SecurityConfiguration.java
@@ -17,6 +17,7 @@
 package sample.actuator.customsecurity;
 
 import org.springframework.boot.actuate.autoconfigure.security.servlet.EndpointRequest;
+import org.springframework.boot.actuate.web.mappings.MappingsEndpoint;
 import org.springframework.boot.autoconfigure.security.servlet.PathRequest;
 import org.springframework.context.annotation.Bean;
 import org.springframework.context.annotation.Configuration;
@@ -43,7 +44,7 @@ public class SecurityConfiguration extends WebSecurityConfigurerAdapter {
 		// @formatter:off
 		http.authorizeRequests()
 				.requestMatchers(EndpointRequest.to("health", "info")).permitAll()
-				.requestMatchers(EndpointRequest.toAnyEndpoint()).hasRole("ACTUATOR")
+				.requestMatchers(EndpointRequest.toAnyEndpoint().excluding(MappingsEndpoint.class)).hasRole("ACTUATOR")
 				.requestMatchers(PathRequest.toStaticResources().atCommonLocations()).permitAll()
 				.antMatchers("/foo").permitAll()
 				.antMatchers("/**").hasRole("USER")
diff --git a/spring-boot-samples/spring-boot-sample-actuator-custom-security/src/test/java/sample/actuator/customsecurity/SampleActuatorCustomSecurityApplicationTests.java b/spring-boot-samples/spring-boot-sample-actuator-custom-security/src/test/java/sample/actuator/customsecurity/SampleActuatorCustomSecurityApplicationTests.java
index 03fe0cdf34..b6e2e94b34 100644
--- a/spring-boot-samples/spring-boot-sample-actuator-custom-security/src/test/java/sample/actuator/customsecurity/SampleActuatorCustomSecurityApplicationTests.java
+++ b/spring-boot-samples/spring-boot-sample-actuator-custom-security/src/test/java/sample/actuator/customsecurity/SampleActuatorCustomSecurityApplicationTests.java
@@ -125,6 +125,13 @@ public class SampleActuatorCustomSecurityApplicationTests {
 		assertThat(entity.getHeaders().getFirst("echo")).isEqualTo("test");
 	}
 
+	@Test
+	public void actuatorExcludedFromEndpointRequestMatcher() {
+		ResponseEntity<Object> entity = userRestTemplate().getForEntity("/actuator/mappings",
+				Object.class);
+		assertThat(entity.getStatusCode()).isEqualTo(HttpStatus.OK);
+	}
+
 	private TestRestTemplate restTemplate() {
 		return configure(new TestRestTemplate());
 	}
diff --git a/spring-boot-samples/spring-boot-sample-secure-webflux/src/test/java/sample/secure/webflux/SampleSecureWebFluxCustomSecurityTests.java b/spring-boot-samples/spring-boot-sample-secure-webflux/src/test/java/sample/secure/webflux/SampleSecureWebFluxCustomSecurityTests.java
index 2df08c38b7..23d5b7aee6 100644
--- a/spring-boot-samples/spring-boot-sample-secure-webflux/src/test/java/sample/secure/webflux/SampleSecureWebFluxCustomSecurityTests.java
+++ b/spring-boot-samples/spring-boot-sample-secure-webflux/src/test/java/sample/secure/webflux/SampleSecureWebFluxCustomSecurityTests.java
@@ -23,6 +23,7 @@ import org.junit.runner.RunWith;
 
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.boot.actuate.autoconfigure.security.reactive.EndpointRequest;
+import org.springframework.boot.actuate.web.mappings.MappingsEndpoint;
 import org.springframework.boot.autoconfigure.security.reactive.PathRequest;
 import org.springframework.boot.test.context.SpringBootTest;
 import org.springframework.context.annotation.Bean;
@@ -78,6 +79,13 @@ public class SampleSecureWebFluxCustomSecurityTests {
 				.expectStatus().isOk();
 	}
 
+	@Test
+	public void actuatorExcludedFromEndpointRequestMatcher() {
+		this.webClient.get().uri("/actuator/mappings").accept(MediaType.APPLICATION_JSON)
+				.header("Authorization", "basic " + getBasicAuth()).exchange()
+				.expectStatus().isOk();
+	}
+
 	@Test
 	public void staticResourceShouldBeAccessible() {
 		this.webClient.get().uri("/css/bootstrap.min.css")
@@ -100,7 +108,7 @@ public class SampleSecureWebFluxCustomSecurityTests {
 		@Bean
 		public SecurityWebFilterChain springSecurityFilterChain(ServerHttpSecurity http) {
 			http.authorizeExchange().matchers(EndpointRequest.to("health", "info"))
-					.permitAll().matchers(EndpointRequest.toAnyEndpoint())
+					.permitAll().matchers(EndpointRequest.toAnyEndpoint().excluding(MappingsEndpoint.class))
 					.hasRole("ACTUATOR")
 					.matchers(PathRequest.toStaticResources().atCommonLocations())
 					.permitAll().pathMatchers("/login").permitAll().anyExchange()