diff --git a/oauth2/oauth2-jose/src/main/java/org/springframework/security/oauth2/jwt/JwtValidators.java b/oauth2/oauth2-jose/src/main/java/org/springframework/security/oauth2/jwt/JwtValidators.java
index 7566f3b607..054619e237 100644
--- a/oauth2/oauth2-jose/src/main/java/org/springframework/security/oauth2/jwt/JwtValidators.java
+++ b/oauth2/oauth2-jose/src/main/java/org/springframework/security/oauth2/jwt/JwtValidators.java
@@ -147,13 +147,14 @@ public final class JwtValidators {
 	 *
 	 * <p>
 	 * To comply with this spec, this builder needs you to specify at least the
-	 * {@link #audience}, {@link #issuer}, and {@link #clientId}.
+	 * {@link #audience} and {@link #issuer}.
 	 *
 	 * <p>
 	 * While building, the claims are keyed by claim name to allow for simplified lookup
 	 * and replacement in {@link #validators}.
 	 *
 	 * @author Josh Cummings
+	 * @author Giacomo Baso
 	 * @since 6.5
 	 */
 	public static final class AtJwtBuilder {
@@ -167,6 +168,7 @@ public final class JwtValidators {
 			this.validators.put(JwtClaimNames.SUB, require(JwtClaimNames.SUB));
 			this.validators.put(JwtClaimNames.IAT, require(JwtClaimNames.IAT).and(timestamps));
 			this.validators.put(JwtClaimNames.JTI, require(JwtClaimNames.JTI));
+			this.validators.put("client_id", require("client_id"));
 		}
 
 		/**
diff --git a/oauth2/oauth2-jose/src/test/java/org/springframework/security/oauth2/jwt/JwtValidatorsTests.java b/oauth2/oauth2-jose/src/test/java/org/springframework/security/oauth2/jwt/JwtValidatorsTests.java
index 6ab52ab94c..a1b012f50a 100644
--- a/oauth2/oauth2-jose/src/test/java/org/springframework/security/oauth2/jwt/JwtValidatorsTests.java
+++ b/oauth2/oauth2-jose/src/test/java/org/springframework/security/oauth2/jwt/JwtValidatorsTests.java
@@ -36,6 +36,7 @@ import static org.assertj.core.api.Assertions.assertThatException;
  * Tests for {@link JwtValidators}.
  *
  * @author Max Batischev
+ * @author Giacomo Baso
  */
 public class JwtValidatorsTests {
 
@@ -105,6 +106,24 @@ public class JwtValidatorsTests {
 		assertThat(result.getErrors().toString()).doesNotContain("iss");
 	}
 
+	@Test
+	void createAtJwtWhenClientIdIsNotPresentThenRequireClientIdWithAnyValue() {
+		Jwt.Builder builder = TestJwts.jwt();
+		OAuth2TokenValidator<Jwt> validator = JwtValidators.createAtJwtValidator()
+			.audience("audience")
+			.issuer("issuer")
+			.build();
+
+		OAuth2TokenValidatorResult result = validator.validate(builder.build());
+		assertThat(result.getErrors().toString()).contains("at+jwt")
+				.contains("aud")
+				.contains("client_id")
+				.contains("iss");
+
+		result = validator.validate(builder.claim("client_id", "clientId").build());
+		assertThat(result.getErrors().toString()).doesNotContain("client_id");
+	}
+
 	@SuppressWarnings("unchecked")
 	private boolean containsByType(OAuth2TokenValidator<Jwt> validator, Class<? extends OAuth2TokenValidator<?>> type) {
 		DelegatingOAuth2TokenValidator<Jwt> delegatingOAuth2TokenValidator = (DelegatingOAuth2TokenValidator<Jwt>) validator;