diff --git a/spring-web/src/main/java/org/springframework/http/server/ServletServerHttpRequest.java b/spring-web/src/main/java/org/springframework/http/server/ServletServerHttpRequest.java
index 8862742fd0e..f6b99c94bb2 100644
--- a/spring-web/src/main/java/org/springframework/http/server/ServletServerHttpRequest.java
+++ b/spring-web/src/main/java/org/springframework/http/server/ServletServerHttpRequest.java
@@ -50,7 +50,6 @@ import org.springframework.http.MediaType;
 import org.springframework.util.Assert;
 import org.springframework.util.LinkedCaseInsensitiveMap;
 import org.springframework.util.StringUtils;
-import org.springframework.web.util.UriComponentsBuilder;
 
 /**
  * {@link ServerHttpRequest} implementation that is based on a {@link HttpServletRequest}.
@@ -129,15 +128,15 @@ public class ServletServerHttpRequest implements ServerHttpRequest {
 		}
 		catch (URISyntaxException ex) {
 			if (hasQuery) {
+				String requestURL = servletRequest.getRequestURL().toString();
 				try {
-					// Maybe malformed query, try to parse and encode it
-					query = UriComponentsBuilder.fromUriString("?" + query).build().toUri().getRawQuery();
-					return new URI(servletRequest.getRequestURL().toString() + "?" + query);
+					// Maybe malformed query, try to encode it
+					return new URI(requestURL + "?" + encodeQuery(query));
 				}
 				catch (URISyntaxException ex2) {
 					try {
 						// Try leaving it out
-						return new URI(servletRequest.getRequestURL().toString());
+						return new URI(requestURL);
 					}
 					catch (URISyntaxException ex3) {
 						// ignore
@@ -149,6 +148,11 @@ public class ServletServerHttpRequest implements ServerHttpRequest {
 		}
 	}
 
+	private static String encodeQuery(String query) throws URISyntaxException {
+		// Avoid package cycle with web.utils
+		return new URI(null, null, "", query, null).getRawQuery();
+	}
+
 	@Override
 	public HttpHeaders getHeaders() {
 		if (this.headers == null) {
diff --git a/spring-web/src/main/java/org/springframework/http/server/reactive/ServletServerHttpRequest.java b/spring-web/src/main/java/org/springframework/http/server/reactive/ServletServerHttpRequest.java
index 97ad28bcc72..3fe5707efbe 100644
--- a/spring-web/src/main/java/org/springframework/http/server/reactive/ServletServerHttpRequest.java
+++ b/spring-web/src/main/java/org/springframework/http/server/reactive/ServletServerHttpRequest.java
@@ -50,7 +50,6 @@ import org.springframework.util.LinkedCaseInsensitiveMap;
 import org.springframework.util.LinkedMultiValueMap;
 import org.springframework.util.MultiValueMap;
 import org.springframework.util.StringUtils;
-import org.springframework.web.util.UriComponentsBuilder;
 
 /**
  * Adapt {@link ServerHttpRequest} to the Servlet {@link HttpServletRequest}.
@@ -139,15 +138,15 @@ class ServletServerHttpRequest extends AbstractServerHttpRequest {
 		}
 		catch (URISyntaxException ex) {
 			if (hasQuery) {
+				String requestURL = servletRequest.getRequestURL().toString();
 				try {
-					// Maybe malformed query, try to parse and encode it
-					query = UriComponentsBuilder.fromUriString("?" + query).build().toUri().getRawQuery();
-					return new URI(servletRequest.getRequestURL().toString() + "?" + query);
+					// Maybe malformed query, try to encode it
+					return new URI(requestURL + "?" + encodeQuery(query));
 				}
 				catch (URISyntaxException ex2) {
 					try {
 						// Try leaving it out
-						return new URI(servletRequest.getRequestURL().toString());
+						return new URI(requestURL);
 					}
 					catch (URISyntaxException ex3) {
 						// ignore
@@ -159,6 +158,11 @@ class ServletServerHttpRequest extends AbstractServerHttpRequest {
 		}
 	}
 
+	private static String encodeQuery(String query) throws URISyntaxException {
+		// Avoid package cycle with web.utils
+		return new URI(null, null, "", query, null).getRawQuery();
+	}
+
 	@SuppressWarnings("NullAway") // Dataflow analysis limitation
 	private static HttpHeaders initHeaders(HttpHeaders headerValues, HttpServletRequest request) {
 		HttpHeaders headers = null;