diff --git a/spring-boot-project/spring-boot-autoconfigure/src/main/java/org/springframework/boot/autoconfigure/websocket/servlet/WebSocketServletAutoConfiguration.java b/spring-boot-project/spring-boot-autoconfigure/src/main/java/org/springframework/boot/autoconfigure/websocket/servlet/WebSocketServletAutoConfiguration.java
index 1a3f0458638..f7fed2b0d9d 100644
--- a/spring-boot-project/spring-boot-autoconfigure/src/main/java/org/springframework/boot/autoconfigure/websocket/servlet/WebSocketServletAutoConfiguration.java
+++ b/spring-boot-project/spring-boot-autoconfigure/src/main/java/org/springframework/boot/autoconfigure/websocket/servlet/WebSocketServletAutoConfiguration.java
@@ -34,7 +34,8 @@ import org.springframework.boot.autoconfigure.condition.ConditionalOnNotWarDeplo
 import org.springframework.boot.autoconfigure.condition.ConditionalOnWebApplication;
 import org.springframework.boot.autoconfigure.condition.ConditionalOnWebApplication.Type;
 import org.springframework.boot.autoconfigure.web.servlet.ServletWebServerFactoryAutoConfiguration;
-import org.springframework.boot.web.servlet.ServletContextInitializer;
+import org.springframework.boot.web.embedded.jetty.JettyServletWebServerFactory;
+import org.springframework.boot.web.server.WebServerFactoryCustomizer;
 import org.springframework.context.annotation.Bean;
 import org.springframework.context.annotation.Configuration;
 import org.springframework.core.Ordered;
@@ -91,13 +92,15 @@ public class WebSocketServletAutoConfiguration {
 		@Bean
 		@ConditionalOnNotWarDeployment
 		@Order(Ordered.LOWEST_PRECEDENCE)
-		@ConditionalOnMissingBean(name = "websocketUpgradeFilterServletContextInitializer")
-		ServletContextInitializer websocketUpgradeFilterServletContextInitializer() {
-			return (servletContext) -> {
-				Dynamic registration = servletContext.addFilter(WebSocketUpgradeFilter.class.getName(),
-						new WebSocketUpgradeFilter());
-				registration.setAsyncSupported(true);
-				registration.addMappingForUrlPatterns(EnumSet.of(DispatcherType.REQUEST), false, "/*");
+		@ConditionalOnMissingBean(name = "websocketUpgradeFilterWebServerCustomizer")
+		WebServerFactoryCustomizer<JettyServletWebServerFactory> websocketUpgradeFilterWebServerCustomizer() {
+			return (factory) -> {
+				factory.addInitializers((servletContext) -> {
+					Dynamic registration = servletContext.addFilter(WebSocketUpgradeFilter.class.getName(),
+							new WebSocketUpgradeFilter());
+					registration.setAsyncSupported(true);
+					registration.addMappingForUrlPatterns(EnumSet.of(DispatcherType.REQUEST), false, "/*");
+				});
 			};
 		}
 
diff --git a/spring-boot-project/spring-boot-autoconfigure/src/test/java/org/springframework/boot/autoconfigure/websocket/servlet/WebSocketServletAutoConfigurationTests.java b/spring-boot-project/spring-boot-autoconfigure/src/test/java/org/springframework/boot/autoconfigure/websocket/servlet/WebSocketServletAutoConfigurationTests.java
index f38bbc9e8bb..c2112deeddd 100644
--- a/spring-boot-project/spring-boot-autoconfigure/src/test/java/org/springframework/boot/autoconfigure/websocket/servlet/WebSocketServletAutoConfigurationTests.java
+++ b/spring-boot-project/spring-boot-autoconfigure/src/test/java/org/springframework/boot/autoconfigure/websocket/servlet/WebSocketServletAutoConfigurationTests.java
@@ -108,7 +108,7 @@ class WebSocketServletAutoConfigurationTests {
 
 	@Test
 	@Servlet5ClassPathOverrides
-	void jettyWebSocketUpgradeFilterIsAddedToServletContext() {
+	void jettyWebSocketUpgradeFilterIsAddedToServletContextOfJettyServer() {
 		try (AnnotationConfigServletWebServerApplicationContext context = new AnnotationConfigServletWebServerApplicationContext(
 				JettyConfiguration.class, WebSocketServletAutoConfiguration.JettyWebSocketConfiguration.class)) {
 			assertThat(context.getServletContext().getFilterRegistration(WebSocketUpgradeFilter.class.getName()))
@@ -116,6 +116,15 @@ class WebSocketServletAutoConfigurationTests {
 		}
 	}
 
+	@Test
+	void jettyWebSocketUpgradeFilterIsNotAddedToServletContextOfTomcatServer() {
+		try (AnnotationConfigServletWebServerApplicationContext context = new AnnotationConfigServletWebServerApplicationContext(
+				TomcatConfiguration.class, WebSocketServletAutoConfiguration.JettyWebSocketConfiguration.class)) {
+			assertThat(context.getServletContext().getFilterRegistration(WebSocketUpgradeFilter.class.getName()))
+				.isNull();
+		}
+	}
+
 	@Test
 	@SuppressWarnings("rawtypes")
 	void jettyWebSocketUpgradeFilterIsNotExposedAsABean() {