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 9528a9404c..d5eceea98d 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
@@ -157,6 +157,14 @@ public final class EndpointRequest {
 		protected abstract RequestMatcher createDelegate(WebApplicationContext context,
 				RequestMatcherFactory requestMatcherFactory);
 
+		protected List<RequestMatcher> getLinksMatchers(
+				RequestMatcherFactory requestMatcherFactory, String basePath) {
+			List<RequestMatcher> linksMatchers = new ArrayList<>();
+			linksMatchers.add(requestMatcherFactory.antPath(basePath));
+			linksMatchers.add(requestMatcherFactory.antPath(basePath, "/"));
+			return linksMatchers;
+		}
+
 	}
 
 	/**
@@ -220,10 +228,10 @@ public final class EndpointRequest {
 			streamPaths(this.excludes, pathMappedEndpoints).forEach(paths::remove);
 			List<RequestMatcher> delegateMatchers = getDelegateMatchers(
 					requestMatcherFactory, paths);
-			if (this.includeLinks
-					&& StringUtils.hasText(pathMappedEndpoints.getBasePath())) {
-				delegateMatchers.add(
-						requestMatcherFactory.antPath(pathMappedEndpoints.getBasePath()));
+			String basePath = pathMappedEndpoints.getBasePath();
+			if (this.includeLinks && StringUtils.hasText(basePath)) {
+				delegateMatchers
+						.addAll(getLinksMatchers(requestMatcherFactory, basePath));
 			}
 			return new OrRequestMatcher(delegateMatchers);
 		}
@@ -271,8 +279,10 @@ public final class EndpointRequest {
 				RequestMatcherFactory requestMatcherFactory) {
 			WebEndpointProperties properties = context
 					.getBean(WebEndpointProperties.class);
-			if (StringUtils.hasText(properties.getBasePath())) {
-				return requestMatcherFactory.antPath(properties.getBasePath());
+			String basePath = properties.getBasePath();
+			if (StringUtils.hasText(basePath)) {
+				return new OrRequestMatcher(
+						getLinksMatchers(requestMatcherFactory, basePath));
 			}
 			return EMPTY_MATCHER;
 		}
diff --git a/spring-boot-project/spring-boot-actuator-autoconfigure/src/test/java/org/springframework/boot/actuate/autoconfigure/security/reactive/EndpointRequestTests.java b/spring-boot-project/spring-boot-actuator-autoconfigure/src/test/java/org/springframework/boot/actuate/autoconfigure/security/reactive/EndpointRequestTests.java
index 509298333b..e8178c3f14 100644
--- a/spring-boot-project/spring-boot-actuator-autoconfigure/src/test/java/org/springframework/boot/actuate/autoconfigure/security/reactive/EndpointRequestTests.java
+++ b/spring-boot-project/spring-boot-actuator-autoconfigure/src/test/java/org/springframework/boot/actuate/autoconfigure/security/reactive/EndpointRequestTests.java
@@ -59,6 +59,14 @@ public class EndpointRequestTests {
 		assertMatcher(matcher).matches("/actuator");
 	}
 
+	@Test
+	public void toAnyEndpointShouldMatchEndpointPathWithTrailingSlash() {
+		ServerWebExchangeMatcher matcher = EndpointRequest.toAnyEndpoint();
+		assertMatcher(matcher).matches("/actuator/foo/");
+		assertMatcher(matcher).matches("/actuator/bar/");
+		assertMatcher(matcher).matches("/actuator/");
+	}
+
 	@Test
 	public void toAnyEndpointWhenBasePathIsEmptyShouldNotMatchLinks() {
 		ServerWebExchangeMatcher matcher = EndpointRequest.toAnyEndpoint();
@@ -104,6 +112,7 @@ public class EndpointRequestTests {
 		assertMatcher(matcher).doesNotMatch("/actuator/foo");
 		assertMatcher(matcher).doesNotMatch("/actuator/bar");
 		assertMatcher(matcher).matches("/actuator");
+		assertMatcher(matcher).matches("/actuator/");
 	}
 
 	@Test
diff --git a/spring-boot-project/spring-boot-actuator-autoconfigure/src/test/java/org/springframework/boot/actuate/autoconfigure/security/servlet/EndpointRequestTests.java b/spring-boot-project/spring-boot-actuator-autoconfigure/src/test/java/org/springframework/boot/actuate/autoconfigure/security/servlet/EndpointRequestTests.java
index d2682e30ea..20cdb11c0a 100644
--- a/spring-boot-project/spring-boot-actuator-autoconfigure/src/test/java/org/springframework/boot/actuate/autoconfigure/security/servlet/EndpointRequestTests.java
+++ b/spring-boot-project/spring-boot-actuator-autoconfigure/src/test/java/org/springframework/boot/actuate/autoconfigure/security/servlet/EndpointRequestTests.java
@@ -54,10 +54,20 @@ public class EndpointRequestTests {
 	public void toAnyEndpointShouldMatchEndpointPath() {
 		RequestMatcher matcher = EndpointRequest.toAnyEndpoint();
 		assertMatcher(matcher, "/actuator", "/").matches("/actuator/foo");
+		assertMatcher(matcher, "/actuator", "/").matches("/actuator/foo/zoo/");
 		assertMatcher(matcher, "/actuator", "/").matches("/actuator/bar");
+		assertMatcher(matcher, "/actuator", "/").matches("/actuator/bar/baz");
 		assertMatcher(matcher, "/actuator", "/").matches("/actuator");
 	}
 
+	@Test
+	public void toAnyEndpointShouldMatchEndpointPathWithTrailingSlash() {
+		RequestMatcher matcher = EndpointRequest.toAnyEndpoint();
+		assertMatcher(matcher, "/actuator", "/").matches("/actuator/foo/");
+		assertMatcher(matcher, "/actuator", "/").matches("/actuator/bar/");
+		assertMatcher(matcher, "/actuator", "/").matches("/actuator/");
+	}
+
 	@Test
 	public void toAnyEndpointWhenBasePathIsEmptyShouldNotMatchLinks() {
 		RequestMatcher matcher = EndpointRequest.toAnyEndpoint();
@@ -127,6 +137,7 @@ public class EndpointRequestTests {
 		assertMatcher(matcher).doesNotMatch("/actuator/foo");
 		assertMatcher(matcher).doesNotMatch("/actuator/bar");
 		assertMatcher(matcher).matches("/actuator");
+		assertMatcher(matcher).matches("/actuator/");
 	}
 
 	@Test