diff --git a/Slim/App.php b/Slim/App.php
index 5d808461f..66ab4aff3 100644
--- a/Slim/App.php
+++ b/Slim/App.php
@@ -16,6 +16,7 @@
 use Psr\Http\Server\MiddlewareInterface;
 use Psr\Http\Server\RequestHandlerInterface;
 use Psr\Log\LoggerInterface;
+use Slim\Interfaces\DispatcherInterface;
 use Slim\Interfaces\EmitterInterface;
 use Slim\Interfaces\RouteInterface;
 use Slim\Interfaces\RouterInterface;
@@ -170,12 +171,23 @@ public function addMiddleware(MiddlewareInterface $middleware): self
     /**
      * Add routing middleware.
      *
+     * @param bool $decodePath Whether the request path should be URL-decoded before dispatch.
+     *                         Disable to preserve encoded reserved characters inside route parameters.
+     *
      * @return self
      */
-    public function addRoutingMiddleware(): self
+    public function addRoutingMiddleware(bool $decodePath = true): self
     {
+        $routingMiddleware = $decodePath
+            ? RoutingMiddleware::class
+            : new RoutingMiddleware(
+                $this->container->get(DispatcherInterface::class),
+                $this->router,
+                false,
+            );
+
         return $this
-            ->add(RoutingMiddleware::class)
+            ->add($routingMiddleware)
             ->add(EndpointMiddleware::class);
     }
 
diff --git a/Slim/Middleware/RoutingMiddleware.php b/Slim/Middleware/RoutingMiddleware.php
index 5b496d056..4ecc5a060 100644
--- a/Slim/Middleware/RoutingMiddleware.php
+++ b/Slim/Middleware/RoutingMiddleware.php
@@ -31,10 +31,16 @@ final class RoutingMiddleware implements MiddlewareInterface
 
     private RouterInterface $router;
 
-    public function __construct(DispatcherInterface $dispatcher, RouterInterface $router)
-    {
+    private bool $decodePath;
+
+    public function __construct(
+        DispatcherInterface $dispatcher,
+        RouterInterface $router,
+        bool $decodePath = true
+    ) {
         $this->dispatcher = $dispatcher;
         $this->router = $router;
+        $this->decodePath = $decodePath;
     }
 
     public function process(ServerRequestInterface $request, RequestHandlerInterface $handler): ResponseInterface
@@ -50,7 +56,7 @@ public function process(ServerRequestInterface $request, RequestHandlerInterface
 
         $routingResult = $this->dispatcher->dispatch(
             $request->getMethod(),
-            $dispatchPath
+            $this->decodePath ? rawurldecode($dispatchPath) : $dispatchPath
         );
 
         $routeMatch = $this->createRouteMatch($routingResult);
diff --git a/Slim/Routing/FastRouteDispatcher.php b/Slim/Routing/FastRouteDispatcher.php
index ab9419531..57972ac97 100644
--- a/Slim/Routing/FastRouteDispatcher.php
+++ b/Slim/Routing/FastRouteDispatcher.php
@@ -27,7 +27,7 @@ public function __construct(RouterInterface $router)
 
     public function dispatch(string $httpMethod, string $uri): array
     {
-        return $this->getDispatcher()->dispatch($httpMethod, rawurldecode(($uri)));
+        return $this->getDispatcher()->dispatch($httpMethod, $uri);
     }
 
     private function getDispatcher(): GroupCountBased
diff --git a/tests/Middleware/RoutingMiddlewareTest.php b/tests/Middleware/RoutingMiddlewareTest.php
index d4b3742fe..8a254bafb 100644
--- a/tests/Middleware/RoutingMiddlewareTest.php
+++ b/tests/Middleware/RoutingMiddlewareTest.php
@@ -197,6 +197,31 @@ public function testRoutingWithBasePath(): void
         $this->assertSame('/api/users/123?page=2', $response->getHeaderLine('X-fullUrlFor'));
     }
 
+    public function testRoutePreservesEncodedReservedCharactersWhenPathDecodingDisabled(): void
+    {
+        $app = AppFactory::create();
+        $app->addRoutingMiddleware(false);
+
+        $app->get('/something/{magic}/{foo}', function (
+            ServerRequestInterface $request,
+            ResponseInterface $response,
+            array $args
+        ) {
+            $response->getBody()->write($args['magic'] . '|' . $args['foo']);
+
+            return $response;
+        });
+
+        $request = $this
+            ->getServerRequestFactory($app)
+            ->createServerRequest('GET', '/something/magic/foo%2Fbar');
+
+        $response = $app->handle($request);
+
+        $this->assertSame(200, $response->getStatusCode());
+        $this->assertSame('magic|foo%2Fbar', (string)$response->getBody());
+    }
+
     public function testRoutingWithUriDoesNotStartWithBasePath(): void
     {
         $this->expectException(HttpNotFoundException::class);