diff --git a/oauth2-authorization-server/src/main/java/org/springframework/security/oauth2/server/authorization/web/OAuth2AuthorizationEndpointFilter.java b/oauth2-authorization-server/src/main/java/org/springframework/security/oauth2/server/authorization/web/OAuth2AuthorizationEndpointFilter.java
index 5e5cf2806..9da4ea4ae 100644
--- a/oauth2-authorization-server/src/main/java/org/springframework/security/oauth2/server/authorization/web/OAuth2AuthorizationEndpointFilter.java
+++ b/oauth2-authorization-server/src/main/java/org/springframework/security/oauth2/server/authorization/web/OAuth2AuthorizationEndpointFilter.java
@@ -39,7 +39,6 @@
 import org.springframework.security.oauth2.core.OAuth2Error;
 import org.springframework.security.oauth2.core.endpoint.OAuth2AuthorizationResponse;
 import org.springframework.security.oauth2.core.endpoint.OAuth2ParameterNames;
-import org.springframework.security.oauth2.core.oidc.OidcScopes;
 import org.springframework.security.oauth2.server.authorization.authentication.OAuth2AuthorizationCodeRequestAuthenticationException;
 import org.springframework.security.oauth2.server.authorization.authentication.OAuth2AuthorizationCodeRequestAuthenticationProvider;
 import org.springframework.security.oauth2.server.authorization.authentication.OAuth2AuthorizationCodeRequestAuthenticationToken;
@@ -57,9 +56,7 @@
 import org.springframework.security.web.authentication.session.SessionAuthenticationStrategy;
 import org.springframework.security.web.util.RedirectUrlBuilder;
 import org.springframework.security.web.util.UrlUtils;
-import org.springframework.security.web.util.matcher.AndRequestMatcher;
 import org.springframework.security.web.util.matcher.AntPathRequestMatcher;
-import org.springframework.security.web.util.matcher.NegatedRequestMatcher;
 import org.springframework.security.web.util.matcher.OrRequestMatcher;
 import org.springframework.security.web.util.matcher.RequestMatcher;
 import org.springframework.util.Assert;
@@ -151,20 +148,8 @@ private static RequestMatcher createDefaultRequestMatcher(String authorizationEn
 				HttpMethod.GET.name());
 		RequestMatcher authorizationRequestPostMatcher = new AntPathRequestMatcher(authorizationEndpointUri,
 				HttpMethod.POST.name());
-		RequestMatcher openidScopeMatcher = (request) -> {
-			String scope = request.getParameter(OAuth2ParameterNames.SCOPE);
-			return StringUtils.hasText(scope) && scope.contains(OidcScopes.OPENID);
-		};
-		RequestMatcher responseTypeParameterMatcher = (
-				request) -> request.getParameter(OAuth2ParameterNames.RESPONSE_TYPE) != null;
-
-		RequestMatcher authorizationRequestMatcher = new OrRequestMatcher(authorizationRequestGetMatcher,
-				new AndRequestMatcher(authorizationRequestPostMatcher, responseTypeParameterMatcher,
-						openidScopeMatcher));
-		RequestMatcher authorizationConsentMatcher = new AndRequestMatcher(authorizationRequestPostMatcher,
-				new NegatedRequestMatcher(responseTypeParameterMatcher));
-
-		return new OrRequestMatcher(authorizationRequestMatcher, authorizationConsentMatcher);
+
+		return new OrRequestMatcher(authorizationRequestGetMatcher, authorizationRequestPostMatcher);
 	}
 
 	@Override
diff --git a/oauth2-authorization-server/src/main/java/org/springframework/security/oauth2/server/authorization/web/authentication/OAuth2AuthorizationCodeRequestAuthenticationConverter.java b/oauth2-authorization-server/src/main/java/org/springframework/security/oauth2/server/authorization/web/authentication/OAuth2AuthorizationCodeRequestAuthenticationConverter.java
index c574d6153..521ddd400 100644
--- a/oauth2-authorization-server/src/main/java/org/springframework/security/oauth2/server/authorization/web/authentication/OAuth2AuthorizationCodeRequestAuthenticationConverter.java
+++ b/oauth2-authorization-server/src/main/java/org/springframework/security/oauth2/server/authorization/web/authentication/OAuth2AuthorizationCodeRequestAuthenticationConverter.java
@@ -64,11 +64,11 @@ public final class OAuth2AuthorizationCodeRequestAuthenticationConverter impleme
 	private static final Authentication ANONYMOUS_AUTHENTICATION = new AnonymousAuthenticationToken("anonymous",
 			"anonymousUser", AuthorityUtils.createAuthorityList("ROLE_ANONYMOUS"));
 
-	private static final RequestMatcher OIDC_REQUEST_MATCHER = createOidcRequestMatcher();
+	private static final RequestMatcher POST_WITH_RESPONSE_TYPE_REQUEST_MATCHER = createPostWithResponseTypeRequestMatcher();
 
 	@Override
 	public Authentication convert(HttpServletRequest request) {
-		if (!"GET".equals(request.getMethod()) && !OIDC_REQUEST_MATCHER.matches(request)) {
+		if (!"GET".equals(request.getMethod()) && !POST_WITH_RESPONSE_TYPE_REQUEST_MATCHER.matches(request)) {
 			return null;
 		}
 
@@ -153,15 +153,11 @@ else if (!responseType.equals(OAuth2AuthorizationResponseType.CODE.getValue()))
 				state, scopes, additionalParameters);
 	}
 
-	private static RequestMatcher createOidcRequestMatcher() {
+	private static RequestMatcher createPostWithResponseTypeRequestMatcher() {
 		RequestMatcher postMethodMatcher = (request) -> "POST".equals(request.getMethod());
 		RequestMatcher responseTypeParameterMatcher = (
 				request) -> request.getParameter(OAuth2ParameterNames.RESPONSE_TYPE) != null;
-		RequestMatcher openidScopeMatcher = (request) -> {
-			String scope = request.getParameter(OAuth2ParameterNames.SCOPE);
-			return StringUtils.hasText(scope) && scope.contains(OidcScopes.OPENID);
-		};
-		return new AndRequestMatcher(postMethodMatcher, responseTypeParameterMatcher, openidScopeMatcher);
+		return new AndRequestMatcher(postMethodMatcher, responseTypeParameterMatcher);
 	}
 
 	private static void throwError(String errorCode, String parameterName) {
diff --git a/oauth2-authorization-server/src/test/java/org/springframework/security/oauth2/server/authorization/web/OAuth2AuthorizationEndpointFilterTests.java b/oauth2-authorization-server/src/test/java/org/springframework/security/oauth2/server/authorization/web/OAuth2AuthorizationEndpointFilterTests.java
index 4a7494708..ada590fd4 100644
--- a/oauth2-authorization-server/src/test/java/org/springframework/security/oauth2/server/authorization/web/OAuth2AuthorizationEndpointFilterTests.java
+++ b/oauth2-authorization-server/src/test/java/org/springframework/security/oauth2/server/authorization/web/OAuth2AuthorizationEndpointFilterTests.java
@@ -611,11 +611,7 @@ public void doFilterWhenAuthorizationRequestAuthenticatedThenAuthorizationRespon
 
 	@Test
 	public void doFilterWhenAuthenticationRequestAuthenticatedThenAuthorizationResponse() throws Exception {
-		// Setup OpenID Connect request
-		RegisteredClient registeredClient = TestRegisteredClients.registeredClient().scopes((scopes) -> {
-			scopes.clear();
-			scopes.add(OidcScopes.OPENID);
-		}).build();
+		RegisteredClient registeredClient = TestRegisteredClients.registeredClient().scopes(Set::clear).build();
 		OAuth2AuthorizationCodeRequestAuthenticationToken authorizationCodeRequestAuthenticationResult = new OAuth2AuthorizationCodeRequestAuthenticationToken(
 				AUTHORIZATION_URI, registeredClient.getClientId(), this.principal, this.authorizationCode,
 				registeredClient.getRedirectUris().iterator().next(), STATE, registeredClient.getScopes());
@@ -623,7 +619,7 @@ public void doFilterWhenAuthenticationRequestAuthenticatedThenAuthorizationRespo
 		given(this.authenticationManager.authenticate(any())).willReturn(authorizationCodeRequestAuthenticationResult);
 
 		MockHttpServletRequest request = createAuthorizationRequest(registeredClient);
-		request.setMethod("POST"); // OpenID Connect supports POST method
+		request.setMethod("POST");
 		request.setQueryString(null);
 		MockHttpServletResponse response = new MockHttpServletResponse();
 		FilterChain filterChain = mock(FilterChain.class);