diff --git a/config/src/main/java/org/springframework/security/config/annotation/web/HttpSecurityBuilder.java b/config/src/main/java/org/springframework/security/config/annotation/web/HttpSecurityBuilder.java
index 0e4ff7e6f7..bdd1fe911e 100644
--- a/config/src/main/java/org/springframework/security/config/annotation/web/HttpSecurityBuilder.java
+++ b/config/src/main/java/org/springframework/security/config/annotation/web/HttpSecurityBuilder.java
@@ -149,6 +149,7 @@ public interface HttpSecurityBuilder<H extends HttpSecurityBuilder<H>> extends
 	 * <li>{@link org.springframework.security.web.authentication.ui.DefaultLogoutPageGeneratingFilter}</li>
 	 * <li>{@link ConcurrentSessionFilter}</li>
 	 * <li>{@link DigestAuthenticationFilter}</li>
+	 * <li>{@link org.springframework.security.oauth2.server.resource.web.BearerTokenAuthenticationFilter}</li>
 	 * <li>{@link BasicAuthenticationFilter}</li>
 	 * <li>{@link RequestCacheAwareFilter}</li>
 	 * <li>{@link SecurityContextHolderAwareRequestFilter}</li>
diff --git a/config/src/main/java/org/springframework/security/config/annotation/web/builders/FilterComparator.java b/config/src/main/java/org/springframework/security/config/annotation/web/builders/FilterComparator.java
index ebc1a22715..7c1fb68c1f 100644
--- a/config/src/main/java/org/springframework/security/config/annotation/web/builders/FilterComparator.java
+++ b/config/src/main/java/org/springframework/security/config/annotation/web/builders/FilterComparator.java
@@ -19,7 +19,6 @@ import java.io.Serializable;
 import java.util.Comparator;
 import java.util.HashMap;
 import java.util.Map;
-
 import javax.servlet.Filter;
 
 import org.springframework.security.web.access.ExceptionTranslationFilter;
@@ -108,6 +107,9 @@ final class FilterComparator implements Comparator<Filter>, Serializable {
 		order += STEP;
 		put(DigestAuthenticationFilter.class, order);
 		order += STEP;
+		filterToOrder.put(
+				"org.springframework.security.oauth2.server.resource.web.BearerTokenAuthenticationFilter", order);
+		order += STEP;
 		put(BasicAuthenticationFilter.class, order);
 		order += STEP;
 		put(RequestCacheAwareFilter.class, order);
diff --git a/config/src/main/java/org/springframework/security/config/annotation/web/configurers/oauth2/server/resource/OAuth2ResourceServerConfigurer.java b/config/src/main/java/org/springframework/security/config/annotation/web/configurers/oauth2/server/resource/OAuth2ResourceServerConfigurer.java
index faba20fa3e..de610cfa59 100644
--- a/config/src/main/java/org/springframework/security/config/annotation/web/configurers/oauth2/server/resource/OAuth2ResourceServerConfigurer.java
+++ b/config/src/main/java/org/springframework/security/config/annotation/web/configurers/oauth2/server/resource/OAuth2ResourceServerConfigurer.java
@@ -33,7 +33,6 @@ import org.springframework.security.oauth2.server.resource.web.BearerTokenAuthen
 import org.springframework.security.oauth2.server.resource.web.BearerTokenResolver;
 import org.springframework.security.oauth2.server.resource.web.DefaultBearerTokenResolver;
 import org.springframework.security.oauth2.server.resource.web.access.BearerTokenAccessDeniedHandler;
-import org.springframework.security.web.authentication.www.BasicAuthenticationFilter;
 import org.springframework.security.web.util.matcher.RequestMatcher;
 import org.springframework.util.Assert;
 
@@ -132,7 +131,7 @@ public final class OAuth2ResourceServerConfigurer<H extends HttpSecurityBuilder<
 		filter.setBearerTokenResolver(bearerTokenResolver);
 		filter = postProcess(filter);
 
-		http.addFilterBefore(filter, BasicAuthenticationFilter.class);
+		http.addFilter(filter);
 
 		JwtDecoder decoder = this.jwtConfigurer.getJwtDecoder();
 
diff --git a/config/src/main/java/org/springframework/security/config/http/SecurityFilters.java b/config/src/main/java/org/springframework/security/config/http/SecurityFilters.java
index 1b84ecace4..516cf31cfc 100644
--- a/config/src/main/java/org/springframework/security/config/http/SecurityFilters.java
+++ b/config/src/main/java/org/springframework/security/config/http/SecurityFilters.java
@@ -42,6 +42,7 @@ enum SecurityFilters {
 	LOGIN_PAGE_FILTER,
 	LOGOUT_PAGE_FILTER,
 	DIGEST_AUTH_FILTER,
+	BEARER_TOKEN_AUTH_FILTER,
 	BASIC_AUTH_FILTER,
 	REQUEST_CACHE_FILTER,
 	SERVLET_API_SUPPORT_FILTER,
diff --git a/config/src/main/resources/org/springframework/security/config/spring-security-5.1.rnc b/config/src/main/resources/org/springframework/security/config/spring-security-5.1.rnc
index 6f67240121..f3b75156ad 100644
--- a/config/src/main/resources/org/springframework/security/config/spring-security-5.1.rnc
+++ b/config/src/main/resources/org/springframework/security/config/spring-security-5.1.rnc
@@ -906,4 +906,4 @@ position =
 	## The explicit position at which the custom-filter should be placed in the chain. Use if you are replacing a standard filter.
 	attribute position {named-security-filter}
 
-named-security-filter = "FIRST" | "CHANNEL_FILTER" | "SECURITY_CONTEXT_FILTER" | "CONCURRENT_SESSION_FILTER" | "WEB_ASYNC_MANAGER_FILTER" | "HEADERS_FILTER" | "CORS_FILTER" | "CSRF_FILTER" | "LOGOUT_FILTER" | "X509_FILTER" | "PRE_AUTH_FILTER" | "CAS_FILTER" | "FORM_LOGIN_FILTER" | "OPENID_FILTER" | "LOGIN_PAGE_FILTER" |"LOGOUT_PAGE_FILTER" | "DIGEST_AUTH_FILTER" | "BASIC_AUTH_FILTER" | "REQUEST_CACHE_FILTER" | "SERVLET_API_SUPPORT_FILTER" | "JAAS_API_SUPPORT_FILTER" | "REMEMBER_ME_FILTER" | "ANONYMOUS_FILTER" | "SESSION_MANAGEMENT_FILTER" | "EXCEPTION_TRANSLATION_FILTER" | "FILTER_SECURITY_INTERCEPTOR" | "SWITCH_USER_FILTER" | "LAST"
+named-security-filter = "FIRST" | "CHANNEL_FILTER" | "SECURITY_CONTEXT_FILTER" | "CONCURRENT_SESSION_FILTER" | "WEB_ASYNC_MANAGER_FILTER" | "HEADERS_FILTER" | "CORS_FILTER" | "CSRF_FILTER" | "LOGOUT_FILTER" | "X509_FILTER" | "PRE_AUTH_FILTER" | "CAS_FILTER" | "FORM_LOGIN_FILTER" | "OPENID_FILTER" | "LOGIN_PAGE_FILTER" |"LOGOUT_PAGE_FILTER" | "DIGEST_AUTH_FILTER" | "BEARER_TOKEN_AUTH_FILTER" | "BASIC_AUTH_FILTER" | "REQUEST_CACHE_FILTER" | "SERVLET_API_SUPPORT_FILTER" | "JAAS_API_SUPPORT_FILTER" | "REMEMBER_ME_FILTER" | "ANONYMOUS_FILTER" | "SESSION_MANAGEMENT_FILTER" | "EXCEPTION_TRANSLATION_FILTER" | "FILTER_SECURITY_INTERCEPTOR" | "SWITCH_USER_FILTER" | "LAST"
diff --git a/config/src/main/resources/org/springframework/security/config/spring-security-5.1.xsd b/config/src/main/resources/org/springframework/security/config/spring-security-5.1.xsd
index acb5e85c84..6434e496fa 100644
--- a/config/src/main/resources/org/springframework/security/config/spring-security-5.1.xsd
+++ b/config/src/main/resources/org/springframework/security/config/spring-security-5.1.xsd
@@ -2721,6 +2721,7 @@
          <xs:enumeration value="LOGIN_PAGE_FILTER"/>
          <xs:enumeration value="LOGOUT_PAGE_FILTER"/>
          <xs:enumeration value="DIGEST_AUTH_FILTER"/>
+         <xs:enumeration value="BEARER_TOKEN_AUTH_FILTER"/>
          <xs:enumeration value="BASIC_AUTH_FILTER"/>
          <xs:enumeration value="REQUEST_CACHE_FILTER"/>
          <xs:enumeration value="SERVLET_API_SUPPORT_FILTER"/>