diff --git a/config/src/main/java/org/springframework/security/config/annotation/web/configurers/AuthorizeHttpRequestsConfigurer.java b/config/src/main/java/org/springframework/security/config/annotation/web/configurers/AuthorizeHttpRequestsConfigurer.java
index d311e4e859..1df5fd6c0c 100644
--- a/config/src/main/java/org/springframework/security/config/annotation/web/configurers/AuthorizeHttpRequestsConfigurer.java
+++ b/config/src/main/java/org/springframework/security/config/annotation/web/configurers/AuthorizeHttpRequestsConfigurer.java
@@ -35,6 +35,7 @@ import org.springframework.security.authorization.SpringAuthorizationEventPublis
 import org.springframework.security.config.annotation.ObjectPostProcessor;
 import org.springframework.security.config.annotation.web.AbstractRequestMatcherRegistry;
 import org.springframework.security.config.annotation.web.HttpSecurityBuilder;
+import org.springframework.security.config.core.GrantedAuthorityDefaults;
 import org.springframework.security.web.access.intercept.AuthorizationFilter;
 import org.springframework.security.web.access.intercept.RequestAuthorizationContext;
 import org.springframework.security.web.access.intercept.RequestMatcherDelegatingAuthorizationManager;
@@ -62,11 +63,22 @@ public final class AuthorizeHttpRequestsConfigurer<H extends HttpSecurityBuilder
 
 	private final Supplier<RoleHierarchy> roleHierarchy;
 
+	private final String rolePrefix;
+
 	/**
 	 * Creates an instance.
 	 * @param context the {@link ApplicationContext} to use
 	 */
 	public AuthorizeHttpRequestsConfigurer(ApplicationContext context) {
+		String[] grantedAuthorityDefaultsBeanNames = context.getBeanNamesForType(GrantedAuthorityDefaults.class);
+		if (grantedAuthorityDefaultsBeanNames.length == 1) {
+			GrantedAuthorityDefaults grantedAuthorityDefaults = context.getBean(grantedAuthorityDefaultsBeanNames[0],
+					GrantedAuthorityDefaults.class);
+			this.rolePrefix = grantedAuthorityDefaults.getRolePrefix();
+		}
+		else {
+			this.rolePrefix = "ROLE_";
+		}
 		this.registry = new AuthorizationManagerRequestMatcherRegistry(context);
 		if (context.getBeanNamesForType(AuthorizationEventPublisher.class).length > 0) {
 			this.publisher = context.getBean(AuthorizationEventPublisher.class);
@@ -279,7 +291,8 @@ public final class AuthorizeHttpRequestsConfigurer<H extends HttpSecurityBuilder
 		 * customizations
 		 */
 		public AuthorizationManagerRequestMatcherRegistry hasRole(String role) {
-			return access(withRoleHierarchy(AuthorityAuthorizationManager.hasRole(role)));
+			return access(withRoleHierarchy(AuthorityAuthorizationManager
+					.hasAuthority(AuthorizeHttpRequestsConfigurer.this.rolePrefix + role)));
 		}
 
 		/**
diff --git a/config/src/test/java/org/springframework/security/config/annotation/web/configurers/AuthorizeHttpRequestsConfigurerTests.java b/config/src/test/java/org/springframework/security/config/annotation/web/configurers/AuthorizeHttpRequestsConfigurerTests.java
index f90c0483a1..051a0ad34a 100644
--- a/config/src/test/java/org/springframework/security/config/annotation/web/configurers/AuthorizeHttpRequestsConfigurerTests.java
+++ b/config/src/test/java/org/springframework/security/config/annotation/web/configurers/AuthorizeHttpRequestsConfigurerTests.java
@@ -37,6 +37,7 @@ import org.springframework.security.config.annotation.ObjectPostProcessor;
 import org.springframework.security.config.annotation.web.AbstractRequestMatcherRegistry;
 import org.springframework.security.config.annotation.web.builders.HttpSecurity;
 import org.springframework.security.config.annotation.web.configuration.EnableWebSecurity;
+import org.springframework.security.config.core.GrantedAuthorityDefaults;
 import org.springframework.security.config.test.SpringTestContext;
 import org.springframework.security.config.test.SpringTestContextExtension;
 import org.springframework.security.core.authority.AuthorityUtils;
@@ -475,6 +476,17 @@ public class AuthorizeHttpRequestsConfigurerTests {
 		this.mvc.perform(requestWithRoleOther).andExpect(status().isForbidden());
 	}
 
+	@Test
+	public void getWhenRoleUserConfiguredAsGrantedAuthorityDefaultThenRespondsWithOk() throws Exception {
+		this.spring.register(GrantedAuthorityDefaultConfig.class, BasicController.class).autowire();
+		// @formatter:off
+		MockHttpServletRequestBuilder requestWithUser = get("/")
+				.with(user("user")
+						.authorities(new SimpleGrantedAuthority("CUSTOM_PREFIX_USER")));
+		// @formatter:on
+		this.mvc.perform(requestWithUser).andExpect(status().isOk());
+	}
+
 	@Test
 	public void getWhenExpressionHasIpAddressLocalhostConfiguredIpAddressIsLocalhostThenRespondsWithOk()
 			throws Exception {
@@ -557,6 +569,22 @@ public class AuthorizeHttpRequestsConfigurerTests {
 		this.mvc.perform(requestWithUser).andExpect(status().isForbidden());
 	}
 
+	@Configuration
+	@EnableWebSecurity
+	static class GrantedAuthorityDefaultConfig {
+
+		@Bean
+		GrantedAuthorityDefaults grantedAuthorityDefaults() {
+			return new GrantedAuthorityDefaults("CUSTOM_PREFIX_");
+		}
+
+		@Bean
+		SecurityFilterChain myFilterChain(HttpSecurity http) throws Exception {
+			return http.authorizeHttpRequests((c) -> c.anyRequest().hasRole("USER")).build();
+		}
+
+	}
+
 	@Configuration
 	@EnableWebSecurity
 	static class NoRequestsConfig {