diff --git a/CHANGELOG.md b/CHANGELOG.md
index 6366a4d92..64d998307 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,7 @@
 **Master**
 
+- Escape URI delimiters inside asset paths and query values. [Oskar Eichler](https://github.com/OskarEichler)
+
 Get upgrade notes from Sprockets 3.x to 4.x at https://github.com/rails/sprockets/blob/master/UPGRADING.md
 
 # 4.4.1
diff --git a/README.md b/README.md
index 958b44cd4..5856b1659 100644
--- a/README.md
+++ b/README.md
@@ -714,3 +714,5 @@ Please see the [CHANGELOG](https://github.com/rails/sprockets/tree/master/CHANGE
 
 ## License
 Sprockets is released under the [MIT License](MIT-LICENSE).
+
+Asset filenames containing `?`, `[` or `]` and query values containing `&` are escaped as components, preserving existing plus, slash and percent handling.
diff --git a/lib/sprockets/uri_utils.rb b/lib/sprockets/uri_utils.rb
index 03e0f19cc..79cf2e0d3 100644
--- a/lib/sprockets/uri_utils.rb
+++ b/lib/sprockets/uri_utils.rb
@@ -24,6 +24,11 @@ module URIUtils
     URI_PARSER = defined?(URI::RFC2396_PARSER) ? URI::RFC2396_PARSER : URI::Generic::DEFAULT_PARSER
     private_constant :URI_PARSER
 
+    # The URI parser character set, excluding component delimiters.
+    URI_PATH_UNSAFE = /[^\-_.!~*'()a-zA-Z\d;\/:@&=+$,]/
+    URI_QUERY_UNSAFE = /[^\-_.!~*'()a-zA-Z\d;\/?:@=+$,\[\]]/
+    private_constant :URI_PATH_UNSAFE, :URI_QUERY_UNSAFE
+
     # Internal: Parse URI into component parts.
     #
     # uri - String uri
@@ -66,7 +71,7 @@ def join_file_uri(scheme, host, path, query)
       str = +"#{scheme}://"
       str << host if host
       path = "/#{path}" unless path.start_with?("/".freeze)
-      str << URI_PARSER.escape(path)
+      str << URI_PARSER.escape(path, URI_PATH_UNSAFE)
       str << "?#{query}" if query
       str
     end
@@ -165,7 +170,7 @@ def encode_uri_query_params(params)
         when Integer
           query << "#{key}=#{value}"
         when String, Symbol
-          query << "#{key}=#{URI_PARSER.escape(value.to_s)}"
+          query << "#{key}=#{URI_PARSER.escape(value.to_s, URI_QUERY_UNSAFE)}"
         when TrueClass
           query << "#{key}"
         when FalseClass, NilClass