diff --git a/spring-boot-project/spring-boot-autoconfigure/src/main/java/org/springframework/boot/autoconfigure/web/embedded/TomcatWebServerFactoryCustomizer.java b/spring-boot-project/spring-boot-autoconfigure/src/main/java/org/springframework/boot/autoconfigure/web/embedded/TomcatWebServerFactoryCustomizer.java
index 9e44dd4bfa56..9502816d9448 100644
--- a/spring-boot-project/spring-boot-autoconfigure/src/main/java/org/springframework/boot/autoconfigure/web/embedded/TomcatWebServerFactoryCustomizer.java
+++ b/spring-boot-project/spring-boot-autoconfigure/src/main/java/org/springframework/boot/autoconfigure/web/embedded/TomcatWebServerFactoryCustomizer.java
@@ -1,5 +1,5 @@
 /*
- * Copyright 2012-2021 the original author or authors.
+ * Copyright 2012-2022 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.
@@ -26,7 +26,9 @@
 import org.apache.catalina.valves.RemoteIpValve;
 import org.apache.coyote.AbstractProtocol;
 import org.apache.coyote.ProtocolHandler;
+import org.apache.coyote.UpgradeProtocol;
 import org.apache.coyote.http11.AbstractHttp11Protocol;
+import org.apache.coyote.http2.Http2Protocol;
 
 import org.springframework.boot.autoconfigure.web.ErrorProperties;
 import org.springframework.boot.autoconfigure.web.ErrorProperties.IncludeAttribute;
@@ -147,6 +149,11 @@ private void customizeProcessorCache(ConfigurableTomcatWebServerFactory factory,
 	private void customizeKeepAliveTimeout(ConfigurableTomcatWebServerFactory factory, Duration keepAliveTimeout) {
 		factory.addConnectorCustomizers((connector) -> {
 			ProtocolHandler handler = connector.getProtocolHandler();
+			for (UpgradeProtocol upgradeProtocol : handler.findUpgradeProtocols()) {
+				if (upgradeProtocol instanceof Http2Protocol) {
+					((Http2Protocol) upgradeProtocol).setKeepAliveTimeout(keepAliveTimeout.toMillis());
+				}
+			}
 			if (handler instanceof AbstractProtocol) {
 				AbstractProtocol<?> protocol = (AbstractProtocol<?>) handler;
 				protocol.setKeepAliveTimeout((int) keepAliveTimeout.toMillis());
diff --git a/spring-boot-project/spring-boot-autoconfigure/src/test/java/org/springframework/boot/autoconfigure/web/embedded/TomcatWebServerFactoryCustomizerTests.java b/spring-boot-project/spring-boot-autoconfigure/src/test/java/org/springframework/boot/autoconfigure/web/embedded/TomcatWebServerFactoryCustomizerTests.java
index 6a3742a17222..5e3015b81114 100644
--- a/spring-boot-project/spring-boot-autoconfigure/src/test/java/org/springframework/boot/autoconfigure/web/embedded/TomcatWebServerFactoryCustomizerTests.java
+++ b/spring-boot-project/spring-boot-autoconfigure/src/test/java/org/springframework/boot/autoconfigure/web/embedded/TomcatWebServerFactoryCustomizerTests.java
@@ -1,5 +1,5 @@
 /*
- * Copyright 2012-2021 the original author or authors.
+ * Copyright 2012-2022 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.
@@ -28,6 +28,7 @@
 import org.apache.coyote.AbstractProtocol;
 import org.apache.coyote.ajp.AbstractAjpProtocol;
 import org.apache.coyote.http11.AbstractHttp11Protocol;
+import org.apache.coyote.http2.Http2Protocol;
 import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
 
@@ -106,6 +107,22 @@ void customKeepAliveTimeout() {
 						.isEqualTo(30));
 	}
 
+	@Test
+	void defaultKeepAliveTimeoutWithHttp2() {
+		bind("server.http2.enabled=true");
+		customizeAndRunServer((server) -> assertThat(
+				((Http2Protocol) server.getTomcat().getConnector().findUpgradeProtocols()[0]).getKeepAliveTimeout())
+						.isEqualTo(20000L));
+	}
+
+	@Test
+	void customKeepAliveTimeoutWithHttp2() {
+		bind("server.tomcat.keep-alive-timeout=30s", "server.http2.enabled=true");
+		customizeAndRunServer((server) -> assertThat(
+				((Http2Protocol) server.getTomcat().getConnector().findUpgradeProtocols()[0]).getKeepAliveTimeout())
+						.isEqualTo(30000L));
+	}
+
 	@Test
 	void customMaxKeepAliveRequests() {
 		bind("server.tomcat.max-keep-alive-requests=-1");
@@ -514,6 +531,7 @@ private TomcatWebServer customizeAndGetServer() {
 
 	private TomcatServletWebServerFactory customizeAndGetFactory() {
 		TomcatServletWebServerFactory factory = new TomcatServletWebServerFactory(0);
+		factory.setHttp2(this.serverProperties.getHttp2());
 		this.customizer.customize(factory);
 		return factory;
 	}