diff --git a/spring-boot-project/spring-boot/src/main/java/org/springframework/boot/web/servlet/FilterRegistration.java b/spring-boot-project/spring-boot/src/main/java/org/springframework/boot/web/servlet/FilterRegistration.java
index df3f67644560..fdb4916b8293 100644
--- a/spring-boot-project/spring-boot/src/main/java/org/springframework/boot/web/servlet/FilterRegistration.java
+++ b/spring-boot-project/spring-boot/src/main/java/org/springframework/boot/web/servlet/FilterRegistration.java
@@ -24,6 +24,7 @@
 
 import jakarta.servlet.DispatcherType;
 import jakarta.servlet.Filter;
+import jakarta.servlet.annotation.WebInitParam;
 
 import org.springframework.core.Ordered;
 import org.springframework.core.annotation.AliasFor;
@@ -34,6 +35,7 @@
  * annotation-based alternative to {@link FilterRegistrationBean}.
  *
  * @author Moritz Halbritter
+ * @author Daeho Kwon
  * @since 3.5.0
  * @see FilterRegistrationBean
  */
@@ -81,6 +83,12 @@
 	 */
 	boolean ignoreRegistrationFailure() default false;
 
+	/**
+	 * Init parameters to be used with the filter.
+	 * @return the init parameters
+	 */
+	WebInitParam[] initParameters() default {};
+
 	/**
 	 * Whether the filter mappings should be matched after any declared Filter mappings of
 	 * the ServletContext.
@@ -95,6 +103,12 @@
 	 */
 	String[] servletNames() default {};
 
+	/**
+	 * Servlet types that the filter will be registered against.
+	 * @return the servlet types
+	 */
+	Class<?>[] servletRegistrationBeans() default {};
+
 	/**
 	 * URL patterns, as defined in the Servlet specification, that the filter will be
 	 * registered against.
diff --git a/spring-boot-project/spring-boot/src/main/java/org/springframework/boot/web/servlet/ServletContextInitializerBeans.java b/spring-boot-project/spring-boot/src/main/java/org/springframework/boot/web/servlet/ServletContextInitializerBeans.java
index f8cb5dd03572..5d2d03cb4649 100644
--- a/spring-boot-project/spring-boot/src/main/java/org/springframework/boot/web/servlet/ServletContextInitializerBeans.java
+++ b/spring-boot-project/spring-boot/src/main/java/org/springframework/boot/web/servlet/ServletContextInitializerBeans.java
@@ -35,6 +35,7 @@
 import jakarta.servlet.Filter;
 import jakarta.servlet.MultipartConfigElement;
 import jakarta.servlet.Servlet;
+import jakarta.servlet.annotation.WebInitParam;
 import org.apache.commons.logging.Log;
 import org.apache.commons.logging.LogFactory;
 
@@ -63,6 +64,7 @@
  * @author Phillip Webb
  * @author Brian Clozel
  * @author Moritz Halbritter
+ * @author Daeho Kwon
  * @since 1.4.0
  */
 public class ServletContextInitializerBeans extends AbstractCollection<ServletContextInitializer> {
@@ -362,6 +364,17 @@ private void configureFromAnnotation(FilterRegistrationBean<Filter> bean, Filter
 			bean.setMatchAfter(registration.matchAfter());
 			bean.setServletNames(Arrays.asList(registration.servletNames()));
 			bean.setUrlPatterns(Arrays.asList(registration.urlPatterns()));
+			for (WebInitParam param : registration.initParameters()) {
+				bean.addInitParameter(param.name(), param.value());
+			}
+
+			this.beanFactory.getBeanProvider(ServletRegistrationBean.class).forEach((servletRegistrationBean) -> {
+				for (Class<?> servletClass : registration.servletRegistrationBeans()) {
+					if (servletClass.isInstance(servletRegistrationBean.getServlet())) {
+						bean.addServletRegistrationBeans(servletRegistrationBean);
+					}
+				}
+			});
 		}
 
 	}
diff --git a/spring-boot-project/spring-boot/src/test/java/org/springframework/boot/web/servlet/ServletContextInitializerBeansTests.java b/spring-boot-project/spring-boot/src/test/java/org/springframework/boot/web/servlet/ServletContextInitializerBeansTests.java
index 0d6b2389e6ea..44c03bbdca55 100644
--- a/spring-boot-project/spring-boot/src/test/java/org/springframework/boot/web/servlet/ServletContextInitializerBeansTests.java
+++ b/spring-boot-project/spring-boot/src/test/java/org/springframework/boot/web/servlet/ServletContextInitializerBeansTests.java
@@ -16,6 +16,7 @@
 
 package org.springframework.boot.web.servlet;
 
+import java.util.Collection;
 import java.util.EnumSet;
 
 import jakarta.servlet.DispatcherType;
@@ -25,6 +26,7 @@
 import jakarta.servlet.ServletContext;
 import jakarta.servlet.ServletRequest;
 import jakarta.servlet.ServletResponse;
+import jakarta.servlet.annotation.WebInitParam;
 import jakarta.servlet.http.HttpServlet;
 import jakarta.servlet.http.HttpServletRequest;
 import jakarta.servlet.http.HttpServletResponse;
@@ -47,6 +49,7 @@
  *
  * @author Andy Wilkinson
  * @author Moritz Halbritter
+ * @author Daeho Kwon
  */
 class ServletContextInitializerBeansTests {
 
@@ -141,6 +144,14 @@ void shouldApplyFilterRegistrationAnnotation() {
 			assertThat(filterRegistrationBean.getServletNames()).containsExactly("test");
 			assertThat(filterRegistrationBean.determineDispatcherTypes()).containsExactly(DispatcherType.ERROR);
 			assertThat(filterRegistrationBean.getUrlPatterns()).containsExactly("/test/*");
+			assertThat(filterRegistrationBean.getInitParameters()).containsEntry("env", "test")
+				.containsEntry("debug", "true");
+			Collection<ServletRegistrationBean<?>> servletRegistrationBeans = filterRegistrationBean
+				.getServletRegistrationBeans();
+			assertThat(servletRegistrationBeans).hasSize(1);
+			assertThat(servletRegistrationBeans.iterator().next().getServletName())
+				.isEqualTo("testServletRegistrationBean");
+
 		});
 	}
 
@@ -296,11 +307,33 @@ static class FilterConfigurationWithAnnotation {
 		@Bean
 		@FilterRegistration(enabled = false, name = "test", asyncSupported = false,
 				dispatcherTypes = DispatcherType.ERROR, matchAfter = true, servletNames = "test",
-				urlPatterns = "/test/*")
+				urlPatterns = "/test/*",
+				initParameters = { @WebInitParam(name = "env", value = "test"),
+						@WebInitParam(name = "debug", value = "true") },
+				servletRegistrationBeans = { TestServlet.class })
 		TestFilter testFilter() {
 			return new TestFilter();
 		}
 
+		@Bean
+		ServletRegistrationBean<TestServlet> testServletRegistrationBean() {
+			return new ServletRegistrationBean<>(new TestServlet());
+		}
+
+		@Bean
+		ServletRegistrationBean<NonMatchingServlet> nonMatchingServletRegistrationBean() {
+			return new ServletRegistrationBean<>(new NonMatchingServlet());
+		}
+
+		static class NonMatchingServlet extends HttpServlet implements ServletContextInitializer {
+
+			@Override
+			public void onStartup(ServletContext servletContext) {
+
+			}
+
+		}
+
 	}
 
 	@Configuration(proxyBeanMethods = false)