diff --git a/.changelog/14465.txt b/.changelog/14465.txt
new file mode 100644
index 0000000000..8fbdf14e6a
--- /dev/null
+++ b/.changelog/14465.txt
@@ -0,0 +1,3 @@
+```release-note:improvement
+dns: support RFC 2782 SRV lookups for prepared queries using format `_<query id or name>._tcp.query[.<datacenter>].<domain>`.
+```
diff --git a/agent/dns.go b/agent/dns.go
index d458928e80..b671cf5492 100644
--- a/agent/dns.go
+++ b/agent/dns.go
@@ -908,10 +908,11 @@ func (d *DNSServer) dispatch(remoteAddr net.Addr, req, resp *dns.Msg, maxRecursi
 		return d.nodeLookup(cfg, lookup, req, resp)
 
 	case "query":
+		n := len(queryParts)
 		datacenter := d.agent.config.Datacenter
 
 		// ensure we have a query name
-		if len(queryParts) < 1 {
+		if n < 1 {
 			return invalid()
 		}
 
@@ -919,8 +920,23 @@ func (d *DNSServer) dispatch(remoteAddr net.Addr, req, resp *dns.Msg, maxRecursi
 			return invalid()
 		}
 
-		// Allow a "." in the query name, just join all the parts.
-		query := strings.Join(queryParts, ".")
+		query := ""
+
+		// If the first and last DNS query parts begin with _, this is an RFC 2782 style SRV lookup.
+		// This allows for prepared query names to include "." (for backwards compatibility).
+		// Otherwise, this is a standard prepared query lookup.
+		if n >= 2 && strings.HasPrefix(queryParts[0], "_") && strings.HasPrefix(queryParts[n-1], "_") {
+			// The last DNS query part is the protocol field (ignored).
+			// All prior parts are the prepared query name or ID.
+			query = strings.Join(queryParts[:n-1], ".")
+
+			// Strip leading underscore
+			query = query[1:]
+		} else {
+			// Allow a "." in the query name, just join all the parts.
+			query = strings.Join(queryParts, ".")
+		}
+
 		err := d.preparedQueryLookup(cfg, datacenter, query, remoteAddr, req, resp, maxRecursionLevel)
 		return ecsNotGlobalError{error: err}
 
diff --git a/agent/dns_test.go b/agent/dns_test.go
index 2f2499a2ef..189859b9d0 100644
--- a/agent/dns_test.go
+++ b/agent/dns_test.go
@@ -2743,13 +2743,16 @@ func TestDNS_ServiceLookup_ServiceAddress_SRV(t *testing.T) {
 	}
 
 	// Register an equivalent prepared query.
+	// Specify prepared query name containing "." to test
+	// since that is technically supported (though atypical).
 	var id string
+	preparedQueryName := "query.name.with.dots"
 	{
 		args := &structs.PreparedQueryRequest{
 			Datacenter: "dc1",
 			Op:         structs.PreparedQueryCreate,
 			Query: &structs.PreparedQuery{
-				Name: "test",
+				Name: preparedQueryName,
 				Service: structs.ServiceQuery{
 					Service: "db",
 				},
@@ -2764,6 +2767,9 @@ func TestDNS_ServiceLookup_ServiceAddress_SRV(t *testing.T) {
 	questions := []string{
 		"db.service.consul.",
 		id + ".query.consul.",
+		preparedQueryName + ".query.consul.",
+		fmt.Sprintf("_%s._tcp.query.consul.", id),
+		fmt.Sprintf("_%s._tcp.query.consul.", preparedQueryName),
 	}
 	for _, question := range questions {
 		m := new(dns.Msg)
diff --git a/website/content/docs/discovery/dns.mdx b/website/content/docs/discovery/dns.mdx
index 29f3e9645b..93074df540 100644
--- a/website/content/docs/discovery/dns.mdx
+++ b/website/content/docs/discovery/dns.mdx
@@ -396,16 +396,24 @@ you can use the following query formats specify namespace but not partition:
 
 ### Prepared Query Lookups
 
-The format of a prepared query lookup is:
+The following formats are valid for prepared query lookups:
 
-```text
-<query or name>.query[.<datacenter>].<domain>
-```
+- Standard lookup
+
+  ```text
+  <query name or id>.query[.<datacenter>].<domain>
+  ```
+
+- [RFC 2782](https://tools.ietf.org/html/rfc2782) SRV lookup
+
+  ```text
+  _<query name or id>._tcp.query[.<datacenter>].<domain>
+  ```
 
 The `datacenter` is optional, and if not provided, the datacenter of this Consul
 agent is assumed.
 
-The `query or name` is the ID or given name of an existing
+The `query name or id` is the given name or ID of an existing
 [Prepared Query](/api-docs/query). These behave like standard service
 queries but provide a much richer set of features, such as filtering by multiple
 tags and automatically failing over to look for services in remote datacenters if