diff --git a/agent/http.go b/agent/http.go
index 930f003472..1b869102e9 100644
--- a/agent/http.go
+++ b/agent/http.go
@@ -15,6 +15,7 @@ import (
 	"github.com/armon/go-metrics"
 	"github.com/hashicorp/consul/acl"
 	"github.com/hashicorp/consul/agent/structs"
+	"github.com/hashicorp/go-cleanhttp"
 	"github.com/mitchellh/mapstructure"
 )
 
@@ -62,6 +63,17 @@ func registerEndpoint(pattern string, fn unboundEndpoint) {
 	endpoints[pattern] = fn
 }
 
+// wrappedMux hangs on to the underlying mux for unit tests.
+type wrappedMux struct {
+	mux     *http.ServeMux
+	handler http.Handler
+}
+
+// ServeHTTP implements the http.Handler interface.
+func (w *wrappedMux) ServeHTTP(resp http.ResponseWriter, req *http.Request) {
+	w.handler.ServeHTTP(resp, req)
+}
+
 // handler is used to attach our handlers to the mux
 func (s *HTTPServer) handler(enableDebug bool) http.Handler {
 	mux := http.NewServeMux()
@@ -118,7 +130,13 @@ func (s *HTTPServer) handler(enableDebug bool) http.Handler {
 	} else if s.agent.config.EnableUI {
 		mux.Handle("/ui/", http.StripPrefix("/ui/", http.FileServer(assetFS())))
 	}
-	return mux
+
+	// Wrap the whole mux with a handler that bans URLs with non-printable
+	// characters.
+	return &wrappedMux{
+		mux:     mux,
+		handler: cleanhttp.PrintablePathCheckHandler(mux, nil),
+	}
 }
 
 // aclEndpointRE is used to find old ACL endpoints that take tokens in the URL
diff --git a/agent/http_test.go b/agent/http_test.go
index 8a347d046e..12ce2a8138 100644
--- a/agent/http_test.go
+++ b/agent/http_test.go
@@ -165,11 +165,11 @@ func TestHTTPServer_H2(t *testing.T) {
 		resp.WriteHeader(http.StatusOK)
 		fmt.Fprint(resp, req.Proto)
 	}
-	mux, ok := a.srv.Handler.(*http.ServeMux)
+	w, ok := a.srv.Handler.(*wrappedMux)
 	if !ok {
 		t.Fatalf("handler is not expected type")
 	}
-	mux.HandleFunc("/echo", handler)
+	w.mux.HandleFunc("/echo", handler)
 
 	// Call it and make sure we see HTTP/2.
 	url := fmt.Sprintf("https://%s/echo", a.srv.ln.Addr().String())
@@ -315,6 +315,18 @@ func TestHTTPAPI_BlockEndpoints(t *testing.T) {
 	}
 }
 
+func TestHTTPAPI_Ban_Nonprintable_Characters(t *testing.T) {
+	a := NewTestAgent(t.Name(), "")
+	defer a.Shutdown()
+
+	req, _ := http.NewRequest("GET", "/v1/kv/bad\x00ness", nil)
+	resp := httptest.NewRecorder()
+	a.srv.Handler.ServeHTTP(resp, req)
+	if got, want := resp.Code, http.StatusBadRequest; got != want {
+		t.Fatalf("bad response code got %d want %d", got, want)
+	}
+}
+
 func TestHTTPAPI_TranslateAddrHeader(t *testing.T) {
 	t.Parallel()
 	// Header should not be present if address translation is off.