diff --git a/spring-boot-project/spring-boot-autoconfigure/src/main/java/org/springframework/boot/autoconfigure/web/embedded/UndertowWebServerFactoryCustomizer.java b/spring-boot-project/spring-boot-autoconfigure/src/main/java/org/springframework/boot/autoconfigure/web/embedded/UndertowWebServerFactoryCustomizer.java
index 8f291b1a220c..f8bca9b75468 100644
--- a/spring-boot-project/spring-boot-autoconfigure/src/main/java/org/springframework/boot/autoconfigure/web/embedded/UndertowWebServerFactoryCustomizer.java
+++ b/spring-boot-project/spring-boot-autoconfigure/src/main/java/org/springframework/boot/autoconfigure/web/embedded/UndertowWebServerFactoryCustomizer.java
@@ -1,5 +1,5 @@
 /*
- * Copyright 2012-2020 the original author or authors.
+ * Copyright 2012-2023 the original author or authors.
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -85,6 +85,7 @@ public void customize(ConfigurableUndertowWebServerFactory factory) {
 		map.from(this::getOrDeduceUseForwardHeaders).to(factory::setUseForwardHeaders);
 	}
 
+	@SuppressWarnings("deprecation")
 	private void mapUndertowProperties(ConfigurableUndertowWebServerFactory factory, ServerOptions serverOptions) {
 		PropertyMapper map = PropertyMapper.get().alwaysApplyingWhenNonNull();
 		Undertow properties = this.serverProperties.getUndertow();
diff --git a/spring-boot-project/spring-boot-autoconfigure/src/test/java/org/springframework/boot/autoconfigure/web/embedded/UndertowWebServerFactoryCustomizerTests.java b/spring-boot-project/spring-boot-autoconfigure/src/test/java/org/springframework/boot/autoconfigure/web/embedded/UndertowWebServerFactoryCustomizerTests.java
index 7b544fb3e6ba..1e070451e42c 100644
--- a/spring-boot-project/spring-boot-autoconfigure/src/test/java/org/springframework/boot/autoconfigure/web/embedded/UndertowWebServerFactoryCustomizerTests.java
+++ b/spring-boot-project/spring-boot-autoconfigure/src/test/java/org/springframework/boot/autoconfigure/web/embedded/UndertowWebServerFactoryCustomizerTests.java
@@ -150,6 +150,7 @@ void customizeWorkerThreads() {
 	}
 
 	@Test
+	@SuppressWarnings("deprecation")
 	void allowEncodedSlashes() {
 		bind("server.undertow.allow-encoded-slash=true");
 		assertThat(boundServerOption(UndertowOptions.ALLOW_ENCODED_SLASH)).isTrue();
diff --git a/spring-boot-project/spring-boot-dependencies/build.gradle b/spring-boot-project/spring-boot-dependencies/build.gradle
index 57b27038e110..cf0088274697 100644
--- a/spring-boot-project/spring-boot-dependencies/build.gradle
+++ b/spring-boot-project/spring-boot-dependencies/build.gradle
@@ -1885,7 +1885,7 @@ bom {
 			]
 		}
 	}
-	library("Undertow", "2.2.17.Final") {
+	library("Undertow", "2.2.24.Final") {
 		group("io.undertow") {
 			modules = [
 				"undertow-core",