diff --git a/spring-boot-project/spring-boot-autoconfigure/src/main/java/org/springframework/boot/autoconfigure/web/servlet/ServletWebServerFactoryConfiguration.java b/spring-boot-project/spring-boot-autoconfigure/src/main/java/org/springframework/boot/autoconfigure/web/servlet/ServletWebServerFactoryConfiguration.java
index 2149b502a26..13a6c6a3ea6 100644
--- a/spring-boot-project/spring-boot-autoconfigure/src/main/java/org/springframework/boot/autoconfigure/web/servlet/ServletWebServerFactoryConfiguration.java
+++ b/spring-boot-project/spring-boot-autoconfigure/src/main/java/org/springframework/boot/autoconfigure/web/servlet/ServletWebServerFactoryConfiguration.java
@@ -32,6 +32,7 @@ import org.springframework.beans.factory.ObjectProvider;
 import org.springframework.boot.autoconfigure.condition.ConditionalOnClass;
 import org.springframework.boot.autoconfigure.condition.ConditionalOnMissingBean;
 import org.springframework.boot.autoconfigure.condition.SearchStrategy;
+import org.springframework.boot.autoconfigure.web.ServerProperties;
 import org.springframework.boot.web.embedded.jetty.JettyServerCustomizer;
 import org.springframework.boot.web.embedded.jetty.JettyServletWebServerFactory;
 import org.springframework.boot.web.embedded.tomcat.TomcatConnectorCustomizer;
@@ -121,6 +122,12 @@ class ServletWebServerFactoryConfiguration {
 			return factory;
 		}
 
+		@Bean
+		UndertowServletWebServerFactoryCustomizer undertowServletWebServerFactoryCustomizer(
+				ServerProperties serverProperties) {
+			return new UndertowServletWebServerFactoryCustomizer(serverProperties);
+		}
+
 	}
 
 }
diff --git a/spring-boot-project/spring-boot-autoconfigure/src/main/java/org/springframework/boot/autoconfigure/web/servlet/UndertowServletWebServerFactoryCustomizer.java b/spring-boot-project/spring-boot-autoconfigure/src/main/java/org/springframework/boot/autoconfigure/web/servlet/UndertowServletWebServerFactoryCustomizer.java
index 86362316f5e..ef21323bc29 100644
--- a/spring-boot-project/spring-boot-autoconfigure/src/main/java/org/springframework/boot/autoconfigure/web/servlet/UndertowServletWebServerFactoryCustomizer.java
+++ b/spring-boot-project/spring-boot-autoconfigure/src/main/java/org/springframework/boot/autoconfigure/web/servlet/UndertowServletWebServerFactoryCustomizer.java
@@ -1,5 +1,5 @@
 /*
- * Copyright 2012-2019 the original author or authors.
+ * 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.
@@ -38,8 +38,7 @@ public class UndertowServletWebServerFactoryCustomizer
 
 	@Override
 	public void customize(UndertowServletWebServerFactory factory) {
-		factory.addDeploymentInfoCustomizers((deploymentInfo) -> deploymentInfo
-				.setEagerFilterInit(this.serverProperties.getUndertow().isEagerFilterInit()));
+		factory.setEagerInitFilters(this.serverProperties.getUndertow().isEagerFilterInit());
 	}
 
 }
diff --git a/spring-boot-project/spring-boot-autoconfigure/src/test/java/org/springframework/boot/autoconfigure/web/servlet/ServletWebServerFactoryAutoConfigurationTests.java b/spring-boot-project/spring-boot-autoconfigure/src/test/java/org/springframework/boot/autoconfigure/web/servlet/ServletWebServerFactoryAutoConfigurationTests.java
index ed93a8773c5..61ace6e0e67 100644
--- a/spring-boot-project/spring-boot-autoconfigure/src/test/java/org/springframework/boot/autoconfigure/web/servlet/ServletWebServerFactoryAutoConfigurationTests.java
+++ b/spring-boot-project/spring-boot-autoconfigure/src/test/java/org/springframework/boot/autoconfigure/web/servlet/ServletWebServerFactoryAutoConfigurationTests.java
@@ -243,6 +243,17 @@ class ServletWebServerFactoryAutoConfigurationTests {
 		});
 	}
 
+	@Test
+	void undertowServletWebServerFactoryCustomizerIsAutoConfigured() {
+		WebApplicationContextRunner runner = new WebApplicationContextRunner(
+				AnnotationConfigServletWebServerApplicationContext::new)
+						.withClassLoader(new FilteredClassLoader(Tomcat.class, HttpServer.class, Server.class))
+						.withConfiguration(AutoConfigurations.of(ServletWebServerFactoryAutoConfiguration.class))
+						.withUserConfiguration(UndertowBuilderCustomizerConfiguration.class)
+						.withPropertyValues("server.port:0");
+		runner.run((context) -> assertThat(context).hasSingleBean(UndertowServletWebServerFactoryCustomizer.class));
+	}
+
 	@Test
 	void tomcatConnectorCustomizerBeanIsAddedToFactory() {
 		WebApplicationContextRunner runner = new WebApplicationContextRunner(
diff --git a/spring-boot-project/spring-boot-autoconfigure/src/test/java/org/springframework/boot/autoconfigure/web/servlet/UndertowServletWebServerFactoryCustomizerTests.java b/spring-boot-project/spring-boot-autoconfigure/src/test/java/org/springframework/boot/autoconfigure/web/servlet/UndertowServletWebServerFactoryCustomizerTests.java
new file mode 100644
index 00000000000..4e62f47bbc6
--- /dev/null
+++ b/spring-boot-project/spring-boot-autoconfigure/src/test/java/org/springframework/boot/autoconfigure/web/servlet/UndertowServletWebServerFactoryCustomizerTests.java
@@ -0,0 +1,43 @@
+/*
+ * 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 org.springframework.boot.autoconfigure.web.servlet;
+
+import org.junit.jupiter.api.Test;
+
+import org.springframework.boot.autoconfigure.web.ServerProperties;
+import org.springframework.boot.web.embedded.undertow.UndertowServletWebServerFactory;
+
+import static org.assertj.core.api.Assertions.assertThat;
+
+/**
+ * Tests for {@link UndertowServletWebServerFactoryCustomizer}
+ *
+ * @author Andy Wilkinson
+ */
+class UndertowServletWebServerFactoryCustomizerTests {
+
+	@Test
+	void eagerFilterInitCanBeDisabled() {
+		UndertowServletWebServerFactory factory = new UndertowServletWebServerFactory(0);
+		assertThat(factory.isEagerInitFilters()).isTrue();
+		ServerProperties serverProperties = new ServerProperties();
+		serverProperties.getUndertow().setEagerFilterInit(false);
+		new UndertowServletWebServerFactoryCustomizer(serverProperties).customize(factory);
+		assertThat(factory.isEagerInitFilters()).isFalse();
+	}
+
+}