diff --git a/module/spring-boot-security-oauth2-resource-server/src/main/java/org/springframework/boot/security/oauth2/server/resource/autoconfigure/JwtConverterConfiguration.java b/module/spring-boot-security-oauth2-resource-server/src/main/java/org/springframework/boot/security/oauth2/server/resource/autoconfigure/JwtConverterConfiguration.java
index 3ffb6e0e9e5..ae9edb8d324 100644
--- a/module/spring-boot-security-oauth2-resource-server/src/main/java/org/springframework/boot/security/oauth2/server/resource/autoconfigure/JwtConverterConfiguration.java
+++ b/module/spring-boot-security-oauth2-resource-server/src/main/java/org/springframework/boot/security/oauth2/server/resource/autoconfigure/JwtConverterConfiguration.java
@@ -147,6 +147,11 @@ class JwtConverterConfiguration {
 
 		}
 
+		@ConditionalOnProperty("spring.security.oauth2.resourceserver.jwt.authorities-claim-delimiter")
+		static class OnAuthoritiesClaimDelimiter {
+
+		}
+
 		@Conditional(OnAuthoritiesExpressionsCondition.class)
 		static class OnAuthoritiesExpressions {
 
diff --git a/module/spring-boot-security-oauth2-resource-server/src/main/java/org/springframework/boot/security/oauth2/server/resource/autoconfigure/reactive/ReactiveJwtConverterConfiguration.java b/module/spring-boot-security-oauth2-resource-server/src/main/java/org/springframework/boot/security/oauth2/server/resource/autoconfigure/reactive/ReactiveJwtConverterConfiguration.java
index 9ff24500f90..b313a6bf08b 100644
--- a/module/spring-boot-security-oauth2-resource-server/src/main/java/org/springframework/boot/security/oauth2/server/resource/autoconfigure/reactive/ReactiveJwtConverterConfiguration.java
+++ b/module/spring-boot-security-oauth2-resource-server/src/main/java/org/springframework/boot/security/oauth2/server/resource/autoconfigure/reactive/ReactiveJwtConverterConfiguration.java
@@ -153,6 +153,11 @@ class ReactiveJwtConverterConfiguration {
 
 		}
 
+		@ConditionalOnProperty("spring.security.oauth2.resourceserver.jwt.authorities-claim-delimiter")
+		static class OnAuthoritiesClaimDelimiter {
+
+		}
+
 		@Conditional(OnAuthoritiesExpressionsCondition.class)
 		static class OnAuthoritiesExpressions {
 
diff --git a/module/spring-boot-security-oauth2-resource-server/src/test/java/org/springframework/boot/security/oauth2/server/resource/autoconfigure/JwtConverterCustomizationsArgumentsProvider.java b/module/spring-boot-security-oauth2-resource-server/src/test/java/org/springframework/boot/security/oauth2/server/resource/autoconfigure/JwtConverterCustomizationsArgumentsProvider.java
index 23f56974a46..a0df6bb7069 100644
--- a/module/spring-boot-security-oauth2-resource-server/src/test/java/org/springframework/boot/security/oauth2/server/resource/autoconfigure/JwtConverterCustomizationsArgumentsProvider.java
+++ b/module/spring-boot-security-oauth2-resource-server/src/test/java/org/springframework/boot/security/oauth2/server/resource/autoconfigure/JwtConverterCustomizationsArgumentsProvider.java
@@ -53,7 +53,7 @@ public final class JwtConverterCustomizationsArgumentsProvider implements Argume
 		String principalClaimProperty = "spring.security.oauth2.resourceserver.jwt.principal-claim-name="
 				+ customPrincipalClaim;
 		String[] customPrefixProps = { jwkSetUriProperty, authorityPrefixProperty };
-		String[] customDelimiterProps = { jwkSetUriProperty, authorityPrefixProperty, authoritiesDelimiterProperty };
+		String[] customDelimiterProps = { jwkSetUriProperty, authoritiesDelimiterProperty };
 		String[] customAuthoritiesClaimProps = { jwkSetUriProperty, authoritiesClaimProperty };
 		String[] customPrincipalClaimProps = { jwkSetUriProperty, principalClaimProperty };
 		String[] allJwtConverterProps = { jwkSetUriProperty, authorityPrefixProperty, authoritiesDelimiterProperty,
@@ -84,7 +84,7 @@ public final class JwtConverterCustomizationsArgumentsProvider implements Argume
 				Arguments.of(Named.named("Custom prefix for GrantedAuthority", customPrefixProps),
 						noAuthoritiesCustomizationsJwt, subjectValue, customPrefixAuthorities),
 				Arguments.of(Named.named("Custom delimiter for JWT scopes", customDelimiterProps),
-						customAuthoritiesDelimiterJwt, subjectValue, customPrefixAuthorities),
+						customAuthoritiesDelimiterJwt, subjectValue, defaultPrefixAuthorities),
 				Arguments.of(Named.named("Custom JWT authority claim name", customAuthoritiesClaimProps),
 						customAuthoritiesClaimJwt, subjectValue, defaultPrefixAuthorities),
 				Arguments.of(Named.named("Custom JWT principal claim name", customPrincipalClaimProps),
diff --git a/module/spring-boot-security-oauth2-resource-server/src/test/java/org/springframework/boot/security/oauth2/server/resource/autoconfigure/OAuth2ResourceServerAutoConfigurationTests.java b/module/spring-boot-security-oauth2-resource-server/src/test/java/org/springframework/boot/security/oauth2/server/resource/autoconfigure/OAuth2ResourceServerAutoConfigurationTests.java
index a4900f10a34..3d9e8de6019 100644
--- a/module/spring-boot-security-oauth2-resource-server/src/test/java/org/springframework/boot/security/oauth2/server/resource/autoconfigure/OAuth2ResourceServerAutoConfigurationTests.java
+++ b/module/spring-boot-security-oauth2-resource-server/src/test/java/org/springframework/boot/security/oauth2/server/resource/autoconfigure/OAuth2ResourceServerAutoConfigurationTests.java
@@ -783,6 +783,13 @@ class OAuth2ResourceServerAutoConfigurationTests {
 				.isInstanceOf(MutuallyExclusiveConfigurationPropertiesException.class));
 	}
 
+	@Test
+	void shouldConfigureJwtConverterIfAuthoritiesClaimDelimiterIsSet() {
+		this.contextRunner
+			.withPropertyValues("spring.security.oauth2.resourceserver.jwt.authorities-claim-delimiter=dummy")
+			.run((context) -> assertThat(context).hasSingleBean(JwtAuthenticationConverter.class));
+	}
+
 	@Test
 	void jwtAuthenticationConverterByJwtConfigIsConditionalOnMissingBean() {
 		String propertiesPrincipalClaim = "principal_from_properties";
diff --git a/module/spring-boot-security-oauth2-resource-server/src/test/java/org/springframework/boot/security/oauth2/server/resource/autoconfigure/reactive/ReactiveOAuth2ResourceServerAutoConfigurationTests.java b/module/spring-boot-security-oauth2-resource-server/src/test/java/org/springframework/boot/security/oauth2/server/resource/autoconfigure/reactive/ReactiveOAuth2ResourceServerAutoConfigurationTests.java
index ef1ab88f750..2ccaa5255c9 100644
--- a/module/spring-boot-security-oauth2-resource-server/src/test/java/org/springframework/boot/security/oauth2/server/resource/autoconfigure/reactive/ReactiveOAuth2ResourceServerAutoConfigurationTests.java
+++ b/module/spring-boot-security-oauth2-resource-server/src/test/java/org/springframework/boot/security/oauth2/server/resource/autoconfigure/reactive/ReactiveOAuth2ResourceServerAutoConfigurationTests.java
@@ -800,6 +800,13 @@ class ReactiveOAuth2ResourceServerAutoConfigurationTests {
 				.isInstanceOf(MutuallyExclusiveConfigurationPropertiesException.class));
 	}
 
+	@Test
+	void shouldConfigureJwtConverterIfAuthoritiesClaimDelimiterIsSet() {
+		this.contextRunner
+			.withPropertyValues("spring.security.oauth2.resourceserver.jwt.authorities-claim-delimiter=dummy")
+			.run((context) -> assertThat(context).hasSingleBean(ReactiveJwtAuthenticationConverter.class));
+	}
+
 	@ParameterizedTest(name = "{0}")
 	@ArgumentsSource(JwtConverterCustomizationsArgumentsProvider.class)
 	void autoConfigurationShouldConfigureResourceServerWithJwtConverterCustomizations(String[] properties, Jwt jwt,