diff --git a/config/src/main/java/org/springframework/security/config/http/AuthorizationFilterParser.java b/config/src/main/java/org/springframework/security/config/http/AuthorizationFilterParser.java
index b01054ffe7..2855966da2 100644
--- a/config/src/main/java/org/springframework/security/config/http/AuthorizationFilterParser.java
+++ b/config/src/main/java/org/springframework/security/config/http/AuthorizationFilterParser.java
@@ -85,8 +85,8 @@ class AuthorizationFilterParser implements BeanDefinitionParser {
 		BeanDefinitionBuilder filterBuilder = BeanDefinitionBuilder.rootBeanDefinition(AuthorizationFilter.class);
 		filterBuilder.getRawBeanDefinition().setSource(parserContext.extractSource(element));
 		filterBuilder.addConstructorArgReference(this.authorizationManagerRef);
-		if ("true".equals(element.getAttribute(ATT_FILTER_ALL_DISPATCHER_TYPES))) {
-			filterBuilder.addPropertyValue("shouldFilterAllDispatcherTypes", Boolean.TRUE);
+		if ("false".equals(element.getAttribute(ATT_FILTER_ALL_DISPATCHER_TYPES))) {
+			filterBuilder.addPropertyValue("shouldFilterAllDispatcherTypes", Boolean.FALSE);
 		}
 		BeanDefinition filter = filterBuilder
 				.addPropertyValue("securityContextHolderStrategy", this.securityContextHolderStrategy)
diff --git a/config/src/main/resources/org/springframework/security/config/spring-security-6.0.rnc b/config/src/main/resources/org/springframework/security/config/spring-security-6.0.rnc
index 04af5c4189..069705a5ff 100644
--- a/config/src/main/resources/org/springframework/security/config/spring-security-6.0.rnc
+++ b/config/src/main/resources/org/springframework/security/config/spring-security-6.0.rnc
@@ -386,7 +386,7 @@ http.attlist &=
 	## Corresponds to the observeOncePerRequest property of FilterSecurityInterceptor. Defaults to "false"
 	attribute once-per-request {xsd:boolean}?
 http.attlist &=
-	## Corresponds to the shouldFilterAllDispatcherTypes property of AuthorizationFilter. Do not work when use-authorization-manager=false. Defaults to "false".
+	## Corresponds to the shouldFilterAllDispatcherTypes property of AuthorizationFilter. Do not work when use-authorization-manager=false. Defaults to "true".
 	attribute filter-all-dispatcher-types {xsd:boolean}?
 http.attlist &=
 	## Prevents the jsessionid parameter from being added to rendered URLs. Defaults to "true" (rewriting is disabled).
diff --git a/config/src/main/resources/org/springframework/security/config/spring-security-6.0.xsd b/config/src/main/resources/org/springframework/security/config/spring-security-6.0.xsd
index d7f351fdc6..ec9b94b045 100644
--- a/config/src/main/resources/org/springframework/security/config/spring-security-6.0.xsd
+++ b/config/src/main/resources/org/springframework/security/config/spring-security-6.0.xsd
@@ -1366,7 +1366,7 @@
       <xs:attribute name="filter-all-dispatcher-types" type="xs:boolean">
          <xs:annotation>
             <xs:documentation>Corresponds to the shouldFilterAllDispatcherTypes property of AuthorizationFilter. Do not
-                work when use-authorization-manager=false. Defaults to "false".
+                work when use-authorization-manager=false. Defaults to "true".
                 </xs:documentation>
          </xs:annotation>
       </xs:attribute>
diff --git a/config/src/test/java/org/springframework/security/config/http/InterceptUrlConfigTests.java b/config/src/test/java/org/springframework/security/config/http/InterceptUrlConfigTests.java
index 9ab3bbae88..f925de4d0e 100644
--- a/config/src/test/java/org/springframework/security/config/http/InterceptUrlConfigTests.java
+++ b/config/src/test/java/org/springframework/security/config/http/InterceptUrlConfigTests.java
@@ -406,6 +406,28 @@ public class InterceptUrlConfigTests {
 		assertThat(this.spring.getContext().getBean(AuthorizationManager.class)).isNotNull();
 	}
 
+	@Test
+	public void requestWhenUsingFilterAllDispatcherTypesFalseThenAuthorizesRequestsAccordingly() throws Exception {
+		this.spring.configLocations(this.xml("FilterAllDispatcherTypesFalse")).autowire();
+		// @formatter:off
+		this.mvc.perform(get("/path").with(userCredentials()))
+				.andExpect(status().isOk());
+		this.mvc.perform(get("/path").with(adminCredentials()))
+				.andExpect(status().isForbidden());
+		this.mvc.perform(get("/error").with((request) -> {
+			request.setAttribute(WebUtils.ERROR_REQUEST_URI_ATTRIBUTE, "/error");
+			request.setDispatcherType(DispatcherType.ERROR);
+			return request;
+		})).andExpect(status().isOk());
+		this.mvc.perform(get("/path").with((request) -> {
+			request.setAttribute(WebUtils.ERROR_REQUEST_URI_ATTRIBUTE, "/path");
+			request.setDispatcherType(DispatcherType.ERROR);
+			return request;
+		})).andExpect(status().isOk());
+		// @formatter:on
+		assertThat(this.spring.getContext().getBean(AuthorizationManager.class)).isNotNull();
+	}
+
 	private static RequestPostProcessor adminCredentials() {
 		return httpBasic("admin", "password");
 	}
diff --git a/config/src/test/resources/org/springframework/security/config/http/InterceptUrlConfigTests-AuthorizationManagerFilterAllDispatcherTypes.xml b/config/src/test/resources/org/springframework/security/config/http/InterceptUrlConfigTests-AuthorizationManagerFilterAllDispatcherTypes.xml
index cbb7a514d5..aefa2c96a4 100644
--- a/config/src/test/resources/org/springframework/security/config/http/InterceptUrlConfigTests-AuthorizationManagerFilterAllDispatcherTypes.xml
+++ b/config/src/test/resources/org/springframework/security/config/http/InterceptUrlConfigTests-AuthorizationManagerFilterAllDispatcherTypes.xml
@@ -24,7 +24,7 @@
 			http://www.springframework.org/schema/beans
 			https://www.springframework.org/schema/beans/spring-beans.xsd">
 
-	<http auto-config="true" use-authorization-manager="true" filter-all-dispatcher-types="true">
+	<http auto-config="true">
 		<intercept-url request-matcher-ref="pathErrorRequestMatcher" access="permitAll()" />
 		<intercept-url request-matcher-ref="errorRequestMatcher" access="authenticated" />
 		<intercept-url pattern="/**" access="hasRole('USER')"/>
diff --git a/config/src/test/resources/org/springframework/security/config/http/InterceptUrlConfigTests-FilterAllDispatcherTypesFalse.xml b/config/src/test/resources/org/springframework/security/config/http/InterceptUrlConfigTests-FilterAllDispatcherTypesFalse.xml
new file mode 100644
index 0000000000..9cc9f57a58
--- /dev/null
+++ b/config/src/test/resources/org/springframework/security/config/http/InterceptUrlConfigTests-FilterAllDispatcherTypesFalse.xml
@@ -0,0 +1,55 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!--
+  ~ Copyright 2002-2022 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.
+  -->
+
+<b:beans xmlns:b="http://www.springframework.org/schema/beans"
+		xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+		xmlns="http://www.springframework.org/schema/security"
+		xsi:schemaLocation="
+			http://www.springframework.org/schema/security
+			https://www.springframework.org/schema/security/spring-security.xsd
+			http://www.springframework.org/schema/beans
+			https://www.springframework.org/schema/beans/spring-beans.xsd">
+
+	<http auto-config="true" filter-all-dispatcher-types="false">
+		<intercept-url request-matcher-ref="pathErrorRequestMatcher" access="permitAll()" />
+		<intercept-url request-matcher-ref="errorRequestMatcher" access="authenticated" />
+		<intercept-url pattern="/**" access="hasRole('USER')"/>
+		<http-basic/>
+	</http>
+
+	<b:bean name="path" class="org.springframework.security.config.http.InterceptUrlConfigTests.PathController"/>
+	<b:bean name="error" class="org.springframework.security.config.http.InterceptUrlConfigTests.ErrorController"/>
+	
+	<b:bean name="errorRequestMatcher" class="org.springframework.security.web.util.matcher.DispatcherTypeRequestMatcher">
+		<b:constructor-arg value="ERROR"/>
+	</b:bean>
+	
+	<b:bean name="errorPathRequestMatcher" class="org.springframework.security.web.util.matcher.AntPathRequestMatcher">
+		<b:constructor-arg value="/error"/>
+	</b:bean>
+	
+	<b:bean name="pathErrorRequestMatcher" class="org.springframework.security.web.util.matcher.AndRequestMatcher">
+		<b:constructor-arg>
+			<b:list>
+				<b:ref bean="errorRequestMatcher"/>
+				<b:ref bean="errorPathRequestMatcher"/>
+			</b:list>
+		</b:constructor-arg>
+	</b:bean>
+
+	<b:import resource="userservice.xml"/>
+</b:beans>
diff --git a/docs/modules/ROOT/pages/servlet/appendix/namespace/http.adoc b/docs/modules/ROOT/pages/servlet/appendix/namespace/http.adoc
index fd15759dd5..ae5f139fda 100644
--- a/docs/modules/ROOT/pages/servlet/appendix/namespace/http.adoc
+++ b/docs/modules/ROOT/pages/servlet/appendix/namespace/http.adoc
@@ -99,8 +99,8 @@ Defaults to `false`.
 
 [[nsa-http-filter-all-dispatcher-types]]
 * **filter-all-dispatcher-types**
-Corresponds to the `shouldFilterAllDispatcherTypes` property of the `AuthorizationFilter`. Only works when `use-authorization-manager=true`.
-Defaults to `false`.
+Corresponds to the `shouldFilterAllDispatcherTypes` property of the `AuthorizationFilter`. Does not work when `use-authorization-manager=false`.
+Defaults to `true`.
 
 
 [[nsa-http-pattern]]