diff --git a/spring-boot-project/spring-boot-actuator/src/main/java/org/springframework/boot/actuate/endpoint/annotation/EndpointDiscoverer.java b/spring-boot-project/spring-boot-actuator/src/main/java/org/springframework/boot/actuate/endpoint/annotation/EndpointDiscoverer.java
index 5bfde9aa9af0..c7b6abd0fa00 100644
--- a/spring-boot-project/spring-boot-actuator/src/main/java/org/springframework/boot/actuate/endpoint/annotation/EndpointDiscoverer.java
+++ b/spring-boot-project/spring-boot-actuator/src/main/java/org/springframework/boot/actuate/endpoint/annotation/EndpointDiscoverer.java
@@ -30,6 +30,7 @@
 import java.util.function.Supplier;
 import java.util.stream.Collectors;
 
+import org.springframework.aop.scope.ScopedProxyUtils;
 import org.springframework.beans.BeanUtils;
 import org.springframework.beans.factory.BeanFactoryUtils;
 import org.springframework.boot.actuate.endpoint.EndpointFilter;
@@ -132,11 +133,14 @@ private Collection<EndpointBean> createEndpointBeans() {
 				this.applicationContext, Endpoint.class);
 		for (String beanName : beanNames) {
 			EndpointBean endpointBean = createEndpointBean(beanName);
-			EndpointBean previous = byId.putIfAbsent(endpointBean.getId(), endpointBean);
-			Assert.state(previous == null,
-					() -> "Found two endpoints with the id '" + endpointBean.getId()
-							+ "': '" + endpointBean.getBeanName() + "' and '"
-							+ previous.getBeanName() + "'");
+			if (!ScopedProxyUtils.isScopedTarget(beanName)) {
+				EndpointBean previous = byId.putIfAbsent(endpointBean.getId(),
+						endpointBean);
+				Assert.state(previous == null,
+						() -> "Found two endpoints with the id '" + endpointBean.getId()
+								+ "': '" + endpointBean.getBeanName() + "' and '"
+								+ previous.getBeanName() + "'");
+			}
 		}
 		return byId.values();
 	}
diff --git a/spring-boot-project/spring-boot-actuator/src/test/java/org/springframework/boot/actuate/endpoint/annotation/EndpointDiscovererTests.java b/spring-boot-project/spring-boot-actuator/src/test/java/org/springframework/boot/actuate/endpoint/annotation/EndpointDiscovererTests.java
index a465f180bcbc..3289ea61a073 100644
--- a/spring-boot-project/spring-boot-actuator/src/test/java/org/springframework/boot/actuate/endpoint/annotation/EndpointDiscovererTests.java
+++ b/spring-boot-project/spring-boot-actuator/src/test/java/org/springframework/boot/actuate/endpoint/annotation/EndpointDiscovererTests.java
@@ -148,6 +148,17 @@ public void getEndpointsWhenTwoEndpointsHaveTheSameIdShouldThrowException() {
 								"Found two endpoints with the id 'test': "));
 	}
 
+	@Test
+	public void getEndpointsWhenEndpointsArePrefixedWithScopedTargetShouldRegisterOnlyOneEndpoint() {
+		load(ScopedTargetEndpointConfiguration.class, (context) -> {
+			Collection<TestExposableEndpoint> endpoints = new TestEndpointDiscoverer(
+					context).getEndpoints();
+			assertThat(endpoints).hasSize(1);
+			assertThat(endpoints.iterator().next().getEndpointBean()).isSameAs(context
+					.getBean(ScopedTargetEndpointConfiguration.class).testEndpoint());
+		});
+	}
+
 	@Test
 	public void getEndpointsWhenTtlSetToZeroShouldNotCacheInvokeCalls() {
 		load(TestEndpointConfiguration.class, (context) -> {
@@ -393,6 +404,21 @@ public TestEndpoint testEndpointOne() {
 
 	}
 
+	@Configuration
+	static class ScopedTargetEndpointConfiguration {
+
+		@Bean
+		public TestEndpoint testEndpoint() {
+			return new TestEndpoint();
+		}
+
+		@Bean(name = "scopedTarget.testEndpoint")
+		public TestEndpoint scopedTargetTestEndpoint() {
+			return new TestEndpoint();
+		}
+
+	}
+
 	@Import({ TestEndpoint.class, SpecializedTestEndpoint.class,
 			SpecializedExtension.class })
 	static class SpecializedEndpointsConfiguration {