diff --git a/system/Router/Router.php b/system/Router/Router.php
index f0f9555ad1ac..5b6e877e7834 100644
--- a/system/Router/Router.php
+++ b/system/Router/Router.php
@@ -759,6 +759,14 @@ protected function setMatchedRoute(string $route, $handler): void
      */
     private function checkDisallowedChars(string $uri): void
     {
+        // Decode the URI until it no longer changes. A URI can be encoded
+        // multiple times, and decoding it only once would allow a
+        // double-encoded URI to bypass this check when it is decoded again
+        // by another component.
+        while (($decoded = urldecode($uri)) !== $uri) {
+            $uri = $decoded;
+        }
+
         foreach (explode('/', $uri) as $segment) {
             if ($segment !== '' && $this->permittedURIChars !== ''
                 && preg_match('/\A[' . $this->permittedURIChars . ']+\z/iu', $segment) !== 1
diff --git a/tests/system/Router/RouterTest.php b/tests/system/Router/RouterTest.php
index 6e22c95ed4f9..af1d99944bf9 100644
--- a/tests/system/Router/RouterTest.php
+++ b/tests/system/Router/RouterTest.php
@@ -120,6 +120,29 @@ public function testNotPermittedChars(): void
         $router->handle('test/%3Ca%3E');
     }
 
+    public function testDoubleEncodedNotPermittedChars(): void
+    {
+        $router = new Router($this->collection, $this->request);
+
+        $this->expectException(BadRequestException::class);
+        $this->expectExceptionMessage('The URI you submitted has disallowed characters: "<a>"');
+
+        $router->handle('test/%253Ca%253E');
+    }
+
+    public function testPermittedCharsWithPercentSign(): void
+    {
+        $this->collection->get('encoded/(:any)', 'News::view/$1');
+
+        $router = new Router($this->collection, $this->request);
+
+        $router->handle('encoded/100%25');
+
+        $this->assertSame('\News', $router->controllerName());
+        $this->assertSame('view', $router->methodName());
+        $this->assertSame(['100%'], $router->params());
+    }
+
     public function testURIMapsToController(): void
     {
         $router = new Router($this->collection, $this->request);
diff --git a/user_guide_src/source/changelogs/v4.7.6.rst b/user_guide_src/source/changelogs/v4.7.6.rst
index 8739e9546d4c..9b7142387c68 100644
--- a/user_guide_src/source/changelogs/v4.7.6.rst
+++ b/user_guide_src/source/changelogs/v4.7.6.rst
@@ -38,6 +38,9 @@ Bugs Fixed
   is used instead. Values that cannot be converted to a string, such as objects
   not implementing ``Stringable``, now throw a ``FormatException`` instead of a
   fatal ``Error``.
+- **Router:** Fixed a bug where a double-encoded URI could bypass the
+  disallowed character check when the URI was decoded again by another
+  component.
 - **Security:** Fixed a bug where a valid JSON request body that is not an object
   (for example a JSON array) was corrupted after CSRF verification when the
   token was sent via the ``X-CSRF-TOKEN`` header.
diff --git a/user_guide_src/source/general/urls.rst b/user_guide_src/source/general/urls.rst
index bdb10508393f..5681a5f039aa 100644
--- a/user_guide_src/source/general/urls.rst
+++ b/user_guide_src/source/general/urls.rst
@@ -86,8 +86,9 @@ data can be passed to your application. URIs may only contain the following:
 
 .. note::
     This check is performed by the ``Router``. The Router takes the URL-encoded
-    value held by the ``SiteURI`` class, decodes it, and then checks that it
-    does not contain not permitted strings.
+    value held by the ``SiteURI`` class, decodes it repeatedly until it no
+    longer changes, and then checks that it does not contain not permitted
+    strings.
 
 Adding Permitted Characters
 ---------------------------