diff --git a/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/java/org/springframework/boot/actuate/autoconfigure/web/servlet/ServletManagementChildContextConfiguration.java b/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/java/org/springframework/boot/actuate/autoconfigure/web/servlet/ServletManagementChildContextConfiguration.java
index 9e364328300..9457d80db86 100644
--- a/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/java/org/springframework/boot/actuate/autoconfigure/web/servlet/ServletManagementChildContextConfiguration.java
+++ b/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/java/org/springframework/boot/actuate/autoconfigure/web/servlet/ServletManagementChildContextConfiguration.java
@@ -70,6 +70,7 @@ class ServletManagementChildContextConfiguration {
 	}
 
 	@Bean
+	@ConditionalOnClass(name = "io.undertow.Undertow")
 	public UndertowAccessLogCustomizer undertowAccessLogCustomizer() {
 		return new UndertowAccessLogCustomizer();
 	}