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 822403295da..269ca381aca 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
@@ -131,7 +131,7 @@ public final class EndpointId {
 
 	private static String migrateLegacyId(Environment environment, String value) {
 		if (environment.getProperty(MIGRATE_LEGACY_NAMES_PROPERTY, Boolean.class, false)) {
-			return value.replace(".", "");
+			return value.replaceAll("[-.]+", "");
 		}
 		return value;
 	}
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 0c5e03236f3..3f272ad1f97 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
@@ -101,12 +101,30 @@ class EndpointIdTests {
 
 	@Test
 	void ofWhenMigratingLegacyNameRemovesDots(CapturedOutput output) {
+		EndpointId endpointId = migrateLegacyName("one.two.three");
+		assertThat(endpointId.toString()).isEqualTo("onetwothree");
+		assertThat(output).doesNotContain("contains invalid characters");
+	}
+
+	@Test
+	void ofWhenMigratingLegacyNameRemovesHyphens(CapturedOutput output) {
+		EndpointId endpointId = migrateLegacyName("one-two-three");
+		assertThat(endpointId.toString()).isEqualTo("onetwothree");
+		assertThat(output).doesNotContain("contains invalid characters");
+	}
+
+	@Test
+	void ofWhenMigratingLegacyNameRemovesMixOfDashAndDot(CapturedOutput output) {
+		EndpointId endpointId = migrateLegacyName("one.two-three");
+		assertThat(endpointId.toString()).isEqualTo("onetwothree");
+		assertThat(output).doesNotContain("contains invalid characters");
+	}
+
+	private EndpointId migrateLegacyName(String name) {
 		EndpointId.resetLoggedWarnings();
 		MockEnvironment environment = new MockEnvironment();
 		environment.setProperty("management.endpoints.migrate-legacy-ids", "true");
-		EndpointId endpointId = EndpointId.of(environment, "foo.bar");
-		assertThat(endpointId.toString()).isEqualTo("foobar");
-		assertThat(output).doesNotContain("contains invalid characters");
+		return EndpointId.of(environment, name);
 	}
 
 	@Test
diff --git a/spring-boot-tests/spring-boot-smoke-tests/spring-boot-smoke-test-actuator/src/main/java/smoketest/actuator/SampleLegacyEndpointWithDot.java b/spring-boot-tests/spring-boot-smoke-tests/spring-boot-smoke-test-actuator/src/main/java/smoketest/actuator/SampleLegacyEndpointWithDot.java
new file mode 100644
index 00000000000..fcc437e1fd5
--- /dev/null
+++ b/spring-boot-tests/spring-boot-smoke-tests/spring-boot-smoke-test-actuator/src/main/java/smoketest/actuator/SampleLegacyEndpointWithDot.java
@@ -0,0 +1,35 @@
+/*
+ * Copyright 2012-2020 the original author or authors.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      https://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package smoketest.actuator;
+
+import java.util.Collections;
+import java.util.Map;
+
+import org.springframework.boot.actuate.endpoint.annotation.Endpoint;
+import org.springframework.boot.actuate.endpoint.annotation.ReadOperation;
+import org.springframework.stereotype.Component;
+
+@Component
+@Endpoint(id = "lega.cy")
+public class SampleLegacyEndpointWithDot {
+
+	@ReadOperation
+	public Map<String, String> example() {
+		return Collections.singletonMap("legacy", "legacy");
+	}
+
+}
diff --git a/spring-boot-tests/spring-boot-smoke-tests/spring-boot-smoke-test-actuator/src/main/java/smoketest/actuator/SampleLegacyEndpoint.java b/spring-boot-tests/spring-boot-smoke-tests/spring-boot-smoke-test-actuator/src/main/java/smoketest/actuator/SampleLegacyEndpointWithHyphen.java
similarity index 92%
rename from spring-boot-tests/spring-boot-smoke-tests/spring-boot-smoke-test-actuator/src/main/java/smoketest/actuator/SampleLegacyEndpoint.java
rename to spring-boot-tests/spring-boot-smoke-tests/spring-boot-smoke-test-actuator/src/main/java/smoketest/actuator/SampleLegacyEndpointWithHyphen.java
index 913bb6e5bc6..bcaff5d67cd 100644
--- a/spring-boot-tests/spring-boot-smoke-tests/spring-boot-smoke-test-actuator/src/main/java/smoketest/actuator/SampleLegacyEndpoint.java
+++ b/spring-boot-tests/spring-boot-smoke-tests/spring-boot-smoke-test-actuator/src/main/java/smoketest/actuator/SampleLegacyEndpointWithHyphen.java
@@ -24,8 +24,8 @@ import org.springframework.boot.actuate.endpoint.annotation.ReadOperation;
 import org.springframework.stereotype.Component;
 
 @Component
-@Endpoint(id = "lega.cy")
-public class SampleLegacyEndpoint {
+@Endpoint(id = "another-legacy")
+public class SampleLegacyEndpointWithHyphen {
 
 	@ReadOperation
 	public Map<String, String> example() {
diff --git a/spring-boot-tests/spring-boot-smoke-tests/spring-boot-smoke-test-actuator/src/test/java/smoketest/actuator/SampleActuatorApplicationTests.java b/spring-boot-tests/spring-boot-smoke-tests/spring-boot-smoke-test-actuator/src/test/java/smoketest/actuator/SampleActuatorApplicationTests.java
index 796d873bb3a..a23567dfe07 100644
--- a/spring-boot-tests/spring-boot-smoke-tests/spring-boot-smoke-test-actuator/src/test/java/smoketest/actuator/SampleActuatorApplicationTests.java
+++ b/spring-boot-tests/spring-boot-smoke-tests/spring-boot-smoke-test-actuator/src/test/java/smoketest/actuator/SampleActuatorApplicationTests.java
@@ -173,13 +173,21 @@ class SampleActuatorApplicationTests {
 	}
 
 	@Test
-	void testLegacy() {
+	void testLegacyDot() {
 		ResponseEntity<Map<String, Object>> entity = asMapEntity(
 				this.restTemplate.withBasicAuth("user", "password").getForEntity("/actuator/legacy", Map.class));
 		assertThat(entity.getStatusCode()).isEqualTo(HttpStatus.OK);
 		assertThat(entity.getBody()).contains(entry("legacy", "legacy"));
 	}
 
+	@Test
+	void testLegacyHyphen() {
+		ResponseEntity<Map<String, Object>> entity = asMapEntity(
+				this.restTemplate.withBasicAuth("user", "password").getForEntity("/actuator/anotherlegacy", Map.class));
+		assertThat(entity.getStatusCode()).isEqualTo(HttpStatus.OK);
+		assertThat(entity.getBody()).contains(entry("legacy", "legacy"));
+	}
+
 	@SuppressWarnings({ "unchecked", "rawtypes" })
 	static <K, V> ResponseEntity<Map<K, V>> asMapEntity(ResponseEntity<Map> entity) {
 		return (ResponseEntity) entity;