diff --git a/CHANGELOG.md b/CHANGELOG.md
index cc23cf116e3..90641f968d5 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -2,6 +2,10 @@
 
 ## master (unreleased)
 
+### New features
+
+* [#6393](https://github.com/rubocop-hq/rubocop/issues/6393): Add AllowBracesOnProceduralOneLiners option to fine-tune Style/BlockDelimiter's semantic mode. ([@davearonson][])
+
 ### Bug fixes
 
 * [#5934](https://github.com/rubocop-hq/rubocop/issues/5934): Handle the combination of `--auto-gen-config` and `--config FILE` correctly. ([@jonas054][])
@@ -3636,3 +3640,4 @@
 [@andrew-aladev]: https://github.com/andrew-aladev
 [@y-yagi]: https://github.com/y-yagi
 [@DiscoStarslayer]: https://github.com/DiscoStarslayer
+[@davearonson]: https://github.com/davearonson
diff --git a/config/default.yml b/config/default.yml
index 00804942e6d..e015f5c8978 100644
--- a/config/default.yml
+++ b/config/default.yml
@@ -2719,8 +2719,9 @@ Style/BlockDelimiters:
     - line_count_based
     # The `semantic` style enforces braces around functional blocks, where the
     # primary purpose of the block is to return a value and do..end for
-    # procedural blocks, where the primary purpose of the block is its
-    # side-effects.
+    # multi-line procedural blocks, where the primary purpose of the block is
+    # its side-effects. Single-line procedural blocks may only use do-end,
+    # unless AllowBracesOnProceduralOneLiners has a truthy value (see below).
     #
     # This looks at the usage of a block's method to determine its type (e.g. is
     # the result of a `map` assigned to a variable or passed to another
@@ -2781,6 +2782,28 @@ Style/BlockDelimiters:
     - lambda
     - proc
     - it
+  # The AllowBracesOnProceduralOneLiners option is ignored unless the
+  # EnforcedStyle is set to `semantic`. If so:
+  #
+  # If AllowBracesOnProceduralOneLiners is unspecified, or set to any
+  # falsey value, then semantic purity is maintained, so one-line
+  # procedural blocks must use do-end, not braces.
+  #
+  #   # bad
+  #   collection.each { |element| puts element }
+  #
+  #   # good
+  #   collection.each do |element| puts element end
+  #
+  # If AllowBracesOnProceduralOneLiners is set to any truthy value,
+  # then one-line procedural blocks may use either style.
+  #
+  #   # good
+  #   collection.each { |element| puts element }
+  #
+  #   # also good
+  #   collection.each do |element| puts element end
+  AllowBracesOnProceduralOneLiners: false
 
 Style/BracesAroundHashParameters:
   Description: 'Enforce braces style around hash parameters.'
diff --git a/lib/rubocop/cop/style/block_delimiters.rb b/lib/rubocop/cop/style/block_delimiters.rb
index c530e08971b..9bf8b6117ba 100644
--- a/lib/rubocop/cop/style/block_delimiters.rb
+++ b/lib/rubocop/cop/style/block_delimiters.rb
@@ -60,6 +60,30 @@ module Style
       #     x
       #   }.inspect
       #
+      #   # The AllowBracesOnProceduralOneLiners option is ignored unless the
+      #   # EnforcedStyle is set to `semantic`. If so:
+      #
+      #   # If the AllowBracesOnProceduralOneLiners option is unspecified, or
+      #   # set to `false` or any other falsey value, then semantic purity is
+      #   # maintained, so one-line procedural blocks must use do-end, not
+      #   # braces.
+      #
+      #   # bad
+      #   collection.each { |element| puts element }
+      #
+      #   # good
+      #   collection.each do |element| puts element end
+      #
+      #   # If the AllowBracesOnProceduralOneLiners option is set to `true`, or
+      #   # any other truthy value, then one-line procedural blocks may use
+      #   # either style. (There is no setting for requiring braces on them.)
+      #
+      #   # good
+      #   collection.each { |element| puts element }
+      #
+      #   # also good
+      #   collection.each do |element| puts element end
+      #
       # @example EnforcedStyle: braces_for_chaining
       #   # bad
       #   words.each do |word|
@@ -216,7 +240,8 @@ def semantic_block_style?(node)
           method_name = node.method_name
 
           if node.braces?
-            functional_method?(method_name) || functional_block?(node)
+            functional_method?(method_name) || functional_block?(node) ||
+              (procedural_oneliners_may_have_braces? && !node.multiline?)
           else
             procedural_method?(method_name) || !return_value_used?(node)
           end
@@ -250,6 +275,10 @@ def functional_block?(node)
           return_value_used?(node) || return_value_of_scope?(node)
         end
 
+        def procedural_oneliners_may_have_braces?
+          cop_config['AllowBracesOnProceduralOneLiners']
+        end
+
         def procedural_method?(method_name)
           cop_config['ProceduralMethods'].map(&:to_sym).include?(method_name)
         end
diff --git a/manual/cops_style.md b/manual/cops_style.md
index 6e6048ee95c..632fbe7fe3b 100644
--- a/manual/cops_style.md
+++ b/manual/cops_style.md
@@ -415,6 +415,30 @@ foo = map { |x|
 map { |x|
   x
 }.inspect
+
+# The AllowBracesOnProceduralOneLiners option is ignored unless the
+# EnforcedStyle is set to `semantic`. If so:
+
+# If the AllowBracesOnProceduralOneLiners option is unspecified, or
+# set to `false` or any other falsey value, then semantic purity is
+# maintained, so one-line procedural blocks must use do-end, not
+# braces.
+
+# bad
+collection.each { |element| puts element }
+
+# good
+collection.each do |element| puts element end
+
+# If the AllowBracesOnProceduralOneLiners option is set to `true`, or
+# any other truthy value, then one-line procedural blocks may use
+# either style. (There is no setting for requiring braces on them.)
+
+# good
+collection.each { |element| puts element }
+
+# also good
+collection.each do |element| puts element end
 ```
 #### EnforcedStyle: braces_for_chaining
 
@@ -438,6 +462,7 @@ EnforcedStyle | `line_count_based` | `line_count_based`, `semantic`, `braces_for
 ProceduralMethods | `benchmark`, `bm`, `bmbm`, `create`, `each_with_object`, `measure`, `new`, `realtime`, `tap`, `with_object` | Array
 FunctionalMethods | `let`, `let!`, `subject`, `watch` | Array
 IgnoredMethods | `lambda`, `proc`, `it` | Array
+AllowBracesOnProceduralOneLiners | `false` | Boolean
 
 ### References
 
diff --git a/spec/rubocop/cop/style/block_delimiters_spec.rb b/spec/rubocop/cop/style/block_delimiters_spec.rb
index d34d03cfbe9..51e4b466999 100644
--- a/spec/rubocop/cop/style/block_delimiters_spec.rb
+++ b/spec/rubocop/cop/style/block_delimiters_spec.rb
@@ -169,18 +169,36 @@
       RUBY
     end
 
-    it 'registers an offense for a single line procedural block' do
-      expect_offense(<<-RUBY.strip_indent)
-        each { |x| puts x }
-             ^ Prefer `do...end` over `{...}` for procedural blocks.
-      RUBY
-    end
+    context 'with a procedural one-line block' do
+      context 'with AllowBracesOnProceduralOneLiners false or unset' do
+        it 'registers an offense for a single line procedural block' do
+          expect_offense(<<-RUBY.strip_indent)
+            each { |x| puts x }
+                 ^ Prefer `do...end` over `{...}` for procedural blocks.
+          RUBY
+        end
+
+        it 'accepts a single line block with do-end if it is procedural' do
+          expect_no_offenses('each do |x| puts x; end')
+        end
+      end
+
+      context 'with AllowBracesOnProceduralOneLiners true' do
+        let(:cop_config) do
+          cop_config.merge('AllowBracesOnProceduralOneLiners' => true)
+        end
 
-    it 'accepts a single line block with do-end if it is procedural' do
-      expect_no_offenses('each do |x| puts x; end')
+        it 'accepts a single line procedural block with braces' do
+          expect_no_offenses('each { |x| puts x }')
+        end
+
+        it 'accepts a single line procedural do-end block' do
+          expect_no_offenses('each do |x| puts x; end')
+        end
+      end
     end
 
-    context 'with a procedural block' do
+    context 'with a procedural multi-line block' do
       let(:corrected_source) do
         <<-RUBY.strip_indent
         each do |x|