diff --git a/oauth2/oauth2-resource-server/src/main/java/org/springframework/security/oauth2/server/resource/authentication/JwtGrantedAuthoritiesConverter.java b/oauth2/oauth2-resource-server/src/main/java/org/springframework/security/oauth2/server/resource/authentication/JwtGrantedAuthoritiesConverter.java
index 341f7fb1b0..2803483a3e 100644
--- a/oauth2/oauth2-resource-server/src/main/java/org/springframework/security/oauth2/server/resource/authentication/JwtGrantedAuthoritiesConverter.java
+++ b/oauth2/oauth2-resource-server/src/main/java/org/springframework/security/oauth2/server/resource/authentication/JwtGrantedAuthoritiesConverter.java
@@ -43,6 +43,8 @@ public final class JwtGrantedAuthoritiesConverter implements Converter<Jwt, Coll
 
 	private String authorityPrefix = DEFAULT_AUTHORITY_PREFIX;
 
+	private String authoritiesClaimName;
+
 	/**
 	 * Extract {@link GrantedAuthority}s from the given {@link Jwt}.
 	 *
@@ -70,7 +72,24 @@ public final class JwtGrantedAuthoritiesConverter implements Converter<Jwt, Coll
 		this.authorityPrefix = authorityPrefix;
 	}
 
+	/**
+	 * Sets the name of token claim to use for mapping {@link GrantedAuthority authorities} by this converter.
+	 * Defaults to {@link JwtGrantedAuthoritiesConverter#WELL_KNOWN_AUTHORITIES_CLAIM_NAMES}.
+	 *
+	 * @param authoritiesClaimName The token claim name to map authorities
+	 * @since 5.2
+	 */
+	public void setAuthoritiesClaimName(String authoritiesClaimName) {
+		Assert.hasText(authoritiesClaimName, "authoritiesClaimName cannot be empty");
+		this.authoritiesClaimName = authoritiesClaimName;
+	}
+
 	private String getAuthoritiesClaimName(Jwt jwt) {
+
+		if (this.authoritiesClaimName != null) {
+			return this.authoritiesClaimName;
+		}
+
 		for (String claimName : WELL_KNOWN_AUTHORITIES_CLAIM_NAMES) {
 			if (jwt.containsClaim(claimName)) {
 				return claimName;
diff --git a/oauth2/oauth2-resource-server/src/test/java/org/springframework/security/oauth2/server/resource/authentication/JwtGrantedAuthoritiesConverterTests.java b/oauth2/oauth2-resource-server/src/test/java/org/springframework/security/oauth2/server/resource/authentication/JwtGrantedAuthoritiesConverterTests.java
index cb76a7bbc6..643049f1cb 100644
--- a/oauth2/oauth2-resource-server/src/test/java/org/springframework/security/oauth2/server/resource/authentication/JwtGrantedAuthoritiesConverterTests.java
+++ b/oauth2/oauth2-resource-server/src/test/java/org/springframework/security/oauth2/server/resource/authentication/JwtGrantedAuthoritiesConverterTests.java
@@ -139,6 +139,49 @@ public class JwtGrantedAuthoritiesConverterTests {
 		assertThat(authorities).isEmpty();
 	}
 
+	@Test
+	public void convertWhenTokenHasCustomClaimNameThenCustomClaimNameAttributeIsTranslatedToAuthorities() {
+		Map<String, Object> claims = new HashMap<>();
+		claims.put("roles", Arrays.asList("message:read", "message:write"));
+		claims.put("scope", "missive:read missive:write");
+		Jwt jwt = this.jwt(claims);
+
+		JwtGrantedAuthoritiesConverter jwtGrantedAuthoritiesConverter = new JwtGrantedAuthoritiesConverter();
+		jwtGrantedAuthoritiesConverter.setAuthoritiesClaimName("roles");
+		Collection<GrantedAuthority> authorities = jwtGrantedAuthoritiesConverter.convert(jwt);
+
+		assertThat(authorities).containsExactly(
+				new SimpleGrantedAuthority("SCOPE_message:read"),
+				new SimpleGrantedAuthority("SCOPE_message:write"));
+	}
+
+	@Test
+	public void convertWhenTokenHasEmptyCustomClaimNameThenCustomClaimNameAttributeIsTranslatedToNoAuthorities() {
+		Map<String, Object> claims = new HashMap<>();
+		claims.put("roles", Collections.emptyList());
+		claims.put("scope", "missive:read missive:write");
+		Jwt jwt = this.jwt(claims);
+
+		JwtGrantedAuthoritiesConverter jwtGrantedAuthoritiesConverter = new JwtGrantedAuthoritiesConverter();
+		jwtGrantedAuthoritiesConverter.setAuthoritiesClaimName("roles");
+		Collection<GrantedAuthority> authorities = jwtGrantedAuthoritiesConverter.convert(jwt);
+
+		assertThat(authorities).isEmpty();
+	}
+
+	@Test
+	public void convertWhenTokenHasNoCustomClaimNameThenCustomClaimNameAttributeIsTranslatedToNoAuthorities() {
+		Map<String, Object> claims = new HashMap<>();
+		claims.put("scope", "missive:read missive:write");
+		Jwt jwt = this.jwt(claims);
+
+		JwtGrantedAuthoritiesConverter jwtGrantedAuthoritiesConverter = new JwtGrantedAuthoritiesConverter();
+		jwtGrantedAuthoritiesConverter.setAuthoritiesClaimName("roles");
+		Collection<GrantedAuthority> authorities = jwtGrantedAuthoritiesConverter.convert(jwt);
+
+		assertThat(authorities).isEmpty();
+	}
+
 	private Jwt jwt(Map<String, Object> claims) {
 		Map<String, Object> headers = new HashMap<>();
 		headers.put("alg", JwsAlgorithms.RS256);