diff --git a/docs/src/docs/asciidoc/configuration-model.adoc b/docs/src/docs/asciidoc/configuration-model.adoc
index 0f996bab..388c0203 100644
--- a/docs/src/docs/asciidoc/configuration-model.adoc
+++ b/docs/src/docs/asciidoc/configuration-model.adoc
@@ -253,3 +253,55 @@ The supported client authentication methods are `client_secret_basic`, `client_s
 * `*AuthenticationManager*` -- An `AuthenticationManager` composed of `JwtClientAssertionAuthenticationProvider`, `ClientSecretAuthenticationProvider`, and `PublicClientAuthenticationProvider`.
 * `*AuthenticationSuccessHandler*` -- An internal implementation that associates the "`authenticated`" `OAuth2ClientAuthenticationToken` (current `Authentication`) to the `SecurityContext`.
 * `*AuthenticationFailureHandler*` -- An internal implementation that uses the `OAuth2Error` associated with the `OAuth2AuthenticationException` to return the OAuth2 error response.
+
+[[configuring-client-authentication-customizing-jwt-client-assertion-validation]]
+=== Customizing Jwt Client Assertion Validation
+
+`JwtClientAssertionDecoderFactory.DEFAULT_JWT_VALIDATOR_FACTORY` is the default factory that provides an `OAuth2TokenValidator<Jwt>` for the specified `RegisteredClient` and is used for validating the `iss`, `sub`, `aud`, `exp` and `nbf` claims of the `Jwt` client assertion.
+
+`JwtClientAssertionDecoderFactory` provides the ability to override the default `Jwt` client assertion validation by supplying a custom factory of type `Function<RegisteredClient, OAuth2TokenValidator<Jwt>>` to `setJwtValidatorFactory()`.
+
+[NOTE]
+`JwtClientAssertionDecoderFactory` is the default `JwtDecoderFactory` used by `JwtClientAssertionAuthenticationProvider` that provides a `JwtDecoder` for the specified `RegisteredClient` and is used for authenticating a `Jwt` Bearer Token during OAuth2 client authentication.
+
+A common use case for customizing `JwtClientAssertionDecoderFactory` is to validate additional claims in the `Jwt` client assertion.
+
+The following example shows how to configure `JwtClientAssertionAuthenticationProvider` with a customized `JwtClientAssertionDecoderFactory` that validates an additional claim in the `Jwt` client assertion:
+
+[source,java]
+----
+@Bean
+public SecurityFilterChain authorizationServerSecurityFilterChain(HttpSecurity http) throws Exception {
+	OAuth2AuthorizationServerConfigurer authorizationServerConfigurer =
+		new OAuth2AuthorizationServerConfigurer();
+	http.apply(authorizationServerConfigurer);
+
+	authorizationServerConfigurer
+		.clientAuthentication(clientAuthentication ->
+			clientAuthentication
+				.authenticationProviders(configureJwtClientAssertionValidator())
+		);
+
+	return http.build();
+}
+
+private Consumer<List<AuthenticationProvider>> configureJwtClientAssertionValidator() {
+	return (authenticationProviders) ->
+		authenticationProviders.forEach((authenticationProvider) -> {
+			if (authenticationProvider instanceof JwtClientAssertionAuthenticationProvider) {
+				// Customize JwtClientAssertionDecoderFactory
+				JwtClientAssertionDecoderFactory jwtDecoderFactory = new JwtClientAssertionDecoderFactory();
+				Function<RegisteredClient, OAuth2TokenValidator<Jwt>> jwtValidatorFactory = (registeredClient) ->
+					new DelegatingOAuth2TokenValidator<>(
+						// Use default validators
+						JwtClientAssertionDecoderFactory.DEFAULT_JWT_VALIDATOR_FACTORY.apply(registeredClient),
+						// Add custom validator
+						new JwtClaimValidator<>("claim", "value"::equals));
+				jwtDecoderFactory.setJwtValidatorFactory(jwtValidatorFactory);
+
+				((JwtClientAssertionAuthenticationProvider) authenticationProvider)
+					.setJwtDecoderFactory(jwtDecoderFactory);
+			}
+		});
+}
+----
diff --git a/docs/src/docs/asciidoc/protocol-endpoints.adoc b/docs/src/docs/asciidoc/protocol-endpoints.adoc
index dc0cf2a9..83c2ea5e 100644
--- a/docs/src/docs/asciidoc/protocol-endpoints.adoc
+++ b/docs/src/docs/asciidoc/protocol-endpoints.adoc
@@ -50,6 +50,76 @@ public SecurityFilterChain authorizationServerSecurityFilterChain(HttpSecurity h
 * `*AuthenticationSuccessHandler*` -- An internal implementation that handles an "`authenticated`" `OAuth2AuthorizationCodeRequestAuthenticationToken` and returns the `OAuth2AuthorizationResponse`.
 * `*AuthenticationFailureHandler*` -- An internal implementation that uses the `OAuth2Error` associated with the `OAuth2AuthorizationCodeRequestAuthenticationException` and returns the `OAuth2Error` response.
 
+[[oauth2-authorization-endpoint-customizing-authorization-request-validation]]
+=== Customizing Authorization Request Validation
+
+`OAuth2AuthorizationCodeRequestAuthenticationValidator` is the default validator used for validating specific OAuth2 authorization request parameters used in the Authorization Code Grant.
+The default implementation validates the `redirect_uri` and `scope` parameters.
+If validation fails, an `OAuth2AuthorizationCodeRequestAuthenticationException` is thrown.
+
+`OAuth2AuthorizationCodeRequestAuthenticationProvider` provides the ability to override the default authorization request validation by supplying a custom authentication validator of type `Consumer<OAuth2AuthorizationCodeRequestAuthenticationContext>` to `setAuthenticationValidator()`.
+
+[TIP]
+`OAuth2AuthorizationCodeRequestAuthenticationContext` holds the `OAuth2AuthorizationCodeRequestAuthenticationToken`, which contains the OAuth2 authorization request parameters.
+
+[IMPORTANT]
+If validation fails, the authentication validator *MUST* throw `OAuth2AuthorizationCodeRequestAuthenticationException`.
+
+A common use case during the development life cycle phase is to allow for `localhost` in the `redirect_uri` parameter.
+
+The following example shows how to configure `OAuth2AuthorizationCodeRequestAuthenticationProvider` with a custom authentication validator that allows for `localhost` in the `redirect_uri` parameter:
+
+[source,java]
+----
+@Bean
+public SecurityFilterChain authorizationServerSecurityFilterChain(HttpSecurity http) throws Exception {
+	OAuth2AuthorizationServerConfigurer authorizationServerConfigurer =
+		new OAuth2AuthorizationServerConfigurer();
+	http.apply(authorizationServerConfigurer);
+
+	authorizationServerConfigurer
+		.authorizationEndpoint(authorizationEndpoint ->
+			authorizationEndpoint
+				.authenticationProviders(configureAuthenticationValidator())
+		);
+
+	return http.build();
+}
+
+private Consumer<List<AuthenticationProvider>> configureAuthenticationValidator() {
+	return (authenticationProviders) ->
+		authenticationProviders.forEach((authenticationProvider) -> {
+			if (authenticationProvider instanceof OAuth2AuthorizationCodeRequestAuthenticationProvider) {
+				Consumer<OAuth2AuthorizationCodeRequestAuthenticationContext> authenticationValidator =
+					// Override default redirect_uri validator
+					new CustomRedirectUriValidator()
+						// Reuse default scope validator
+						.andThen(OAuth2AuthorizationCodeRequestAuthenticationValidator.DEFAULT_SCOPE_VALIDATOR);
+
+				((OAuth2AuthorizationCodeRequestAuthenticationProvider) authenticationProvider)
+					.setAuthenticationValidator(authenticationValidator);
+			}
+		});
+}
+
+static class CustomRedirectUriValidator implements Consumer<OAuth2AuthorizationCodeRequestAuthenticationContext> {
+
+	@Override
+	public void accept(OAuth2AuthorizationCodeRequestAuthenticationContext authenticationContext) {
+		OAuth2AuthorizationCodeRequestAuthenticationToken authorizationCodeRequestAuthentication =
+			authenticationContext.getAuthentication();
+		RegisteredClient registeredClient = authenticationContext.getRegisteredClient();
+		String requestedRedirectUri = authorizationCodeRequestAuthentication.getRedirectUri();
+
+		// Use exact string matching when comparing client redirect URIs against pre-registered URIs
+		if (!registeredClient.getRedirectUris().contains(requestedRedirectUri)) {
+			OAuth2Error error = new OAuth2Error(OAuth2ErrorCodes.INVALID_REQUEST);
+			throw new OAuth2AuthorizationCodeRequestAuthenticationException(error, null);
+		}
+	}
+}
+----
+
 [[oauth2-token-endpoint]]
 == OAuth2 Token Endpoint
 
diff --git a/oauth2-authorization-server/src/test/java/org/springframework/security/oauth2/server/authorization/config/annotation/web/configurers/OAuth2AuthorizationCodeGrantTests.java b/oauth2-authorization-server/src/test/java/org/springframework/security/oauth2/server/authorization/config/annotation/web/configurers/OAuth2AuthorizationCodeGrantTests.java
index ce789997..3e75b7e9 100644
--- a/oauth2-authorization-server/src/test/java/org/springframework/security/oauth2/server/authorization/config/annotation/web/configurers/OAuth2AuthorizationCodeGrantTests.java
+++ b/oauth2-authorization-server/src/test/java/org/springframework/security/oauth2/server/authorization/config/annotation/web/configurers/OAuth2AuthorizationCodeGrantTests.java
@@ -943,11 +943,6 @@ public class OAuth2AuthorizationCodeGrantTests {
 	@EnableWebSecurity
 	@Configuration(proxyBeanMethods = false)
 	static class AuthorizationServerConfigurationCustomConsentRequest extends AuthorizationServerConfiguration {
-		@Autowired
-		private RegisteredClientRepository registeredClientRepository;
-
-		@Autowired
-		private OAuth2AuthorizationService authorizationService;
 
 		@Autowired
 		private OAuth2AuthorizationConsentService authorizationConsentService;