diff --git a/HISTORY.md b/HISTORY.md
index 204ac76e..ffb80f32 100644
--- a/HISTORY.md
+++ b/HISTORY.md
@@ -1,6 +1,9 @@
 unreleased
-==========
-  * deps: qs@6.12.3
+===================
+
+  * deps: qs@6.13.0
+  * add `depth` option to customize the depth level in the parser
+  * IMPORTANT: The default `depth` level for parsing URL-encoded data is now `32` (previously was `Infinity`)
 
 1.20.2 / 2023-02-21
 ===================
diff --git a/README.md b/README.md
index 1278138f..f6661b7d 100644
--- a/README.md
+++ b/README.md
@@ -278,6 +278,10 @@ The `verify` option, if supplied, is called as `verify(req, res, buf, encoding)`
 where `buf` is a `Buffer` of the raw request body and `encoding` is the
 encoding of the request. The parsing can be aborted by throwing an error.
 
+#### depth
+
+The `depth` option is used to configure the maximum depth of the `qs` library when `extended` is `true`. This allows you to limit the amount of keys that are parsed and can be useful to prevent certain types of abuse. Defaults to `32`. It is recommended to keep this value as low as possible.
+
 ## Errors
 
 The middlewares provided by this module create errors using the
@@ -374,6 +378,10 @@ as well as in the `encoding` property. The `status` property is set to `415`,
 the `type` property is set to `'encoding.unsupported'`, and the `encoding`
 property is set to the encoding that is unsupported.
 
+### The input exceeded the depth
+
+This error occurs when using `bodyParser.urlencoded` with the `extended` property set to `true` and the input exceeds the configured `depth` option. The `status` property is set to `400`. It is recommended to review the `depth` option and evaluate if it requires a higher value. When the `depth` option is set to `32` (default value), the error will not be thrown.
+
 ## Examples
 
 ### Express/Connect top-level generic
diff --git a/lib/types/urlencoded.js b/lib/types/urlencoded.js
index b2ca8f16..886a3ce2 100644
--- a/lib/types/urlencoded.js
+++ b/lib/types/urlencoded.js
@@ -55,6 +55,9 @@ function urlencoded (options) {
     : opts.limit
   var type = opts.type || 'application/x-www-form-urlencoded'
   var verify = opts.verify || false
+  var depth = typeof opts.depth !== 'number'
+    ? Number(opts.depth || 32)
+    : opts.depth
 
   if (verify !== false && typeof verify !== 'function') {
     throw new TypeError('option verify must be function')
@@ -118,7 +121,8 @@ function urlencoded (options) {
       encoding: charset,
       inflate: inflate,
       limit: limit,
-      verify: verify
+      verify: verify,
+      depth: depth
     })
   }
 }
@@ -133,12 +137,20 @@ function extendedparser (options) {
   var parameterLimit = options.parameterLimit !== undefined
     ? options.parameterLimit
     : 1000
+
+  var depth = typeof options.depth !== 'number'
+    ? Number(options.depth || 32)
+    : options.depth
   var parse = parser('qs')
 
   if (isNaN(parameterLimit) || parameterLimit < 1) {
     throw new TypeError('option parameterLimit must be a positive number')
   }
 
+  if(isNaN(depth) || depth < 0) {
+    throw new TypeError('option depth must be a zero or a positive number')
+  }
+
   if (isFinite(parameterLimit)) {
     parameterLimit = parameterLimit | 0
   }
@@ -156,12 +168,23 @@ function extendedparser (options) {
     var arrayLimit = Math.max(100, paramCount)
 
     debug('parse extended urlencoding')
-    return parse(body, {
-      allowPrototypes: true,
-      arrayLimit: arrayLimit,
-      depth: Infinity,
-      parameterLimit: parameterLimit
-    })
+    try {
+      return parse(body, {
+        allowPrototypes: true,
+        arrayLimit: arrayLimit,
+        depth: depth,
+        strictDepth: true,
+        parameterLimit: parameterLimit
+      })
+    } catch (err) {
+      if (err instanceof RangeError) {
+        throw createError(400, 'The input exceeded the depth', {
+          type: 'querystring.parse.rangeError'
+        })
+      } else {
+        throw err
+      }
+    }
   }
 }
 
diff --git a/package.json b/package.json
index ffabc735..01445323 100644
--- a/package.json
+++ b/package.json
@@ -17,7 +17,7 @@
     "http-errors": "2.0.0",
     "iconv-lite": "0.4.24",
     "on-finished": "2.4.1",
-    "qs": "6.12.3",
+    "qs": "6.13.0",
     "raw-body": "2.5.2",
     "type-is": "~1.6.18",
     "unpipe": "1.0.0"
diff --git a/test/urlencoded.js b/test/urlencoded.js
index 10b8c4d4..fa5a815c 100644
--- a/test/urlencoded.js
+++ b/test/urlencoded.js
@@ -195,7 +195,7 @@ describe('bodyParser.urlencoded()', function () {
       it('should parse deep object', function (done) {
         var str = 'foo'
 
-        for (var i = 0; i < 500; i++) {
+        for (var i = 0; i < 32; i++) {
           str += '[p]'
         }
 
@@ -213,13 +213,91 @@ describe('bodyParser.urlencoded()', function () {
             var depth = 0
             var ref = obj.foo
             while ((ref = ref.p)) { depth++ }
-            assert.strictEqual(depth, 500)
+            assert.strictEqual(depth, 32)
           })
           .expect(200, done)
       })
     })
   })
 
+
+  describe('with depth option', function () {
+    describe('when custom value set', function () {
+
+      it('should reject non possitive numbers', function () {
+        assert.throws(createServer.bind(null, { extended: true, depth: -1 }),
+          /TypeError: option depth must be a zero or a positive number/)
+        assert.throws(createServer.bind(null, { extended: true, depth: NaN }),
+          /TypeError: option depth must be a zero or a positive number/)
+        assert.throws(createServer.bind(null, { extended: true, depth: "beep" }),
+          /TypeError: option depth must be a zero or a positive number/)
+      })
+
+
+      it('should parse up to the specified depth', function (done) {
+        this.server = createServer({ extended:true,  depth: 10 })
+        request(this.server)
+          .post('/')
+          .set('Content-Type', 'application/x-www-form-urlencoded')
+          .send('a[b][c][d]=value')
+          .expect(200, '{"a":{"b":{"c":{"d":"value"}}}}', done)
+      })
+
+      it('should not parse beyond the specified depth', function (done) {
+        this.server = createServer({ extended:true,  depth: 1 })
+        request(this.server)
+          .post('/')
+          .set('Content-Type', 'application/x-www-form-urlencoded')
+          .send('a[b][c][d][e]=value')
+          .expect(400, '[querystring.parse.rangeError] The input exceeded the depth', done)
+      })
+    })
+    
+
+    describe('when default value', function () {
+      before(function () {
+        this.server = createServer({ })
+      })
+
+      it('should parse deeply nested objects', function (done) {
+        var deepObject = 'a'
+        for (var i = 0; i < 32; i++) {
+          deepObject += '[p]'
+        }
+        deepObject += '=value'
+  
+        request(this.server)
+          .post('/')
+          .set('Content-Type', 'application/x-www-form-urlencoded')
+          .send(deepObject)
+          .expect(function (res) {
+            var obj = JSON.parse(res.text)
+            var depth = 0
+            var ref = obj.a
+            while ((ref = ref.p)) { depth++ }
+            assert.strictEqual(depth, 32)
+          })
+          .expect(200, done)
+      })
+
+      it('should not parse beyond the specified depth', function (done) {
+        var deepObject = 'a';
+        for (var i = 0; i < 33; i++) {
+          deepObject += '[p]';
+        }
+        deepObject += '=value';
+
+        request(this.server)
+          .post('/')
+          .set('Content-Type', 'application/x-www-form-urlencoded')
+          .send(deepObject)
+          .expect(400, '[querystring.parse.rangeError] The input exceeded the depth', done);
+      });
+  
+    })
+
+  })
+
   describe('with inflate option', function () {
     describe('when false', function () {
       before(function () {