diff --git a/tests/test_rich_markup_mode.py b/tests/test_rich_markup_mode.py
index 0afbc52b35..7470183f23 100644
--- a/tests/test_rich_markup_mode.py
+++ b/tests/test_rich_markup_mode.py
@@ -289,3 +289,50 @@ def test_markup_mode_default():
     # We're assuming the test suite is run with rich installed
     app = typer.Typer()
     assert app.rich_markup_mode == "rich"
+
+
+@pytest.mark.parametrize(
+    "mode",
+    ["markdown", "rich", None],
+)
+def test_markup_mode_epilog(mode):
+    app = typer.Typer(rich_markup_mode=mode)
+
+    help_string = "Here is a help string"
+
+    epilog_string = """
+    Just wrapping up:
+
+    This is the first conclusion
+    Here is conclusion two
+
+    That's all folks!
+    """
+
+    @app.command(help=help_string, epilog=epilog_string)
+    def main():
+        print("Hello World")
+
+    assert app.rich_markup_mode == mode
+
+    result = runner.invoke(app)
+    assert "Hello World" in result.stdout
+
+    result = runner.invoke(app, ["--help"])
+    result_lines = [line.strip() for line in result.stdout.split("\n")]
+    first_index = result_lines.index("Just wrapping up:")
+    assert first_index > 0
+    assert result_lines[first_index + 1] == ""
+
+    if mode == "rich":
+        assert result_lines[first_index + 2] == "This is the first conclusion"
+        assert result_lines[first_index + 3] == "Here is conclusion two"
+        assert result_lines[first_index + 4] == ""
+        assert result_lines[first_index + 5] == "That's all folks!"
+    else:
+        assert (
+            result_lines[first_index + 2]
+            == "This is the first conclusion Here is conclusion two"
+        )
+        assert result_lines[first_index + 3] == ""
+        assert result_lines[first_index + 4] == "That's all folks!"
diff --git a/typer/rich_utils.py b/typer/rich_utils.py
index ad110cb8d6..291fc470dc 100644
--- a/typer/rich_utils.py
+++ b/typer/rich_utils.py
@@ -201,8 +201,7 @@ def _get_help_text(
     if remaining_paragraphs:
         # Add a newline inbetween the header and the remaining paragraphs
         yield Text("")
-        # Join with double linebreaks for markdown and Rich markup
-        remaining_lines = "\n\n".join(remaining_paragraphs)
+        remaining_lines = _fix_linebreaks(remaining_paragraphs, markup_mode)
 
         yield _make_rich_text(
             text=remaining_lines,
@@ -211,6 +210,11 @@ def _get_help_text(
         )
 
 
+def _fix_linebreaks(paragraphs: list[str], markup_mode: MarkupModeStrict) -> str:
+    # Join with double linebreaks for markdown and Rich markup
+    return "\n\n".join(paragraphs)
+
+
 def _get_parameter_help(
     *,
     param: Union[click.Option, click.Argument, click.Parameter],
@@ -668,7 +672,7 @@ def rich_format_help(
     if obj.epilog:
         # Remove single linebreaks, replace double with single
         lines = obj.epilog.split("\n\n")
-        epilogue = "\n".join([x.replace("\n", " ").strip() for x in lines])
+        epilogue = _fix_linebreaks(lines, markup_mode)
         epilogue_text = _make_rich_text(text=epilogue, markup_mode=markup_mode)
         console.print(Padding(Align(epilogue_text, pad=False), 1))