diff --git a/crates/rmcp/Cargo.toml b/crates/rmcp/Cargo.toml
index e9aa78b5..486719d4 100644
--- a/crates/rmcp/Cargo.toml
+++ b/crates/rmcp/Cargo.toml
@@ -40,13 +40,14 @@ reqwest = { version = "0.12", default-features = false, features = [
     "stream",
 ], optional = true }
 sse-stream = { version = "0.1.4", optional = true }
+http = { version = "1", optional = true }
 url = { version = "2.4", optional = true }
 
 # For tower compatibility
 tower-service = { version = "0.3", optional = true }
 
 # for child process transport
-process-wrap = { version = "8.2", features = ["tokio1"], optional = true}
+process-wrap = { version = "8.2", features = ["tokio1"], optional = true }
 
 # for ws transport
 # tokio-tungstenite ={ version = "0.26", optional = true }
@@ -75,7 +76,7 @@ reqwest-tls-no-provider = ["__reqwest", "reqwest?/rustls-tls-no-provider"]
 
 axum = ["dep:axum"]
 # SSE client
-client-side-sse = ["dep:sse-stream"]
+client-side-sse = ["dep:sse-stream", "dep:http"]
 
 transport-sse-client = ["client-side-sse", "transport-worker"]
 
@@ -83,10 +84,7 @@ transport-worker = ["dep:tokio-stream"]
 
 
 # Streamable HTTP client
-transport-streamable-http-client = [
-    "client-side-sse",
-    "transport-worker",
-]
+transport-streamable-http-client = ["client-side-sse", "transport-worker"]
 
 
 transport-async-rw = ["tokio/io-util", "tokio-util/codec"]
@@ -98,6 +96,7 @@ transport-child-process = [
 ]
 transport-sse-server = [
     "transport-async-rw",
+    "transport-worker",
     "axum",
     "dep:rand",
     "dep:tokio-stream",
diff --git a/crates/rmcp/src/transport/common/auth/sse_client.rs b/crates/rmcp/src/transport/common/auth/sse_client.rs
index e6603dd7..009593e1 100644
--- a/crates/rmcp/src/transport/common/auth/sse_client.rs
+++ b/crates/rmcp/src/transport/common/auth/sse_client.rs
@@ -1,3 +1,5 @@
+use http::Uri;
+
 use crate::transport::{
     auth::AuthClient,
     sse_client::{SseClient, SseTransportError},
@@ -10,7 +12,7 @@ where
 
     async fn post_message(
         &self,
-        uri: std::sync::Arc<str>,
+        uri: Uri,
         message: crate::model::ClientJsonRpcMessage,
         mut auth_token: Option<String>,
     ) -> Result<(), SseTransportError<Self::Error>> {
@@ -25,7 +27,7 @@ where
 
     async fn get_stream(
         &self,
-        uri: std::sync::Arc<str>,
+        uri: Uri,
         last_event_id: Option<String>,
         mut auth_token: Option<String>,
     ) -> Result<
diff --git a/crates/rmcp/src/transport/common/reqwest/sse_client.rs b/crates/rmcp/src/transport/common/reqwest/sse_client.rs
index 99262c22..37fe7841 100644
--- a/crates/rmcp/src/transport/common/reqwest/sse_client.rs
+++ b/crates/rmcp/src/transport/common/reqwest/sse_client.rs
@@ -1,6 +1,7 @@
 use std::sync::Arc;
 
 use futures::StreamExt;
+use http::Uri;
 use reqwest::header::ACCEPT;
 use sse_stream::SseStream;
 
@@ -15,11 +16,11 @@ impl SseClient for reqwest::Client {
 
     async fn post_message(
         &self,
-        uri: std::sync::Arc<str>,
+        uri: Uri,
         message: crate::model::ClientJsonRpcMessage,
         auth_token: Option<String>,
     ) -> Result<(), SseTransportError<Self::Error>> {
-        let mut request_builder = self.post(uri.as_ref()).json(&message);
+        let mut request_builder = self.post(uri.to_string()).json(&message);
         if let Some(auth_header) = auth_token {
             request_builder = request_builder.bearer_auth(auth_header);
         }
@@ -33,7 +34,7 @@ impl SseClient for reqwest::Client {
 
     async fn get_stream(
         &self,
-        uri: std::sync::Arc<str>,
+        uri: Uri,
         last_event_id: Option<String>,
         auth_token: Option<String>,
     ) -> Result<
@@ -41,7 +42,7 @@ impl SseClient for reqwest::Client {
         SseTransportError<Self::Error>,
     > {
         let mut request_builder = self
-            .get(uri.as_ref())
+            .get(uri.to_string())
             .header(ACCEPT, EVENT_STREAM_MIME_TYPE);
         if let Some(auth_header) = auth_token {
             request_builder = request_builder.bearer_auth(auth_header);
@@ -73,7 +74,7 @@ impl SseClientTransport<reqwest::Client> {
         SseClientTransport::start_with_client(
             reqwest::Client::default(),
             SseClientConfig {
-                uri: uri.into(),
+                sse_endpoint: uri.into(),
                 ..Default::default()
             },
         )
diff --git a/crates/rmcp/src/transport/sse_client.rs b/crates/rmcp/src/transport/sse_client.rs
index c8e00bea..f9d0e434 100644
--- a/crates/rmcp/src/transport/sse_client.rs
+++ b/crates/rmcp/src/transport/sse_client.rs
@@ -2,6 +2,7 @@
 use std::{pin::Pin, sync::Arc};
 
 use futures::{StreamExt, future::BoxFuture};
+use http::Uri;
 use reqwest::header::HeaderValue;
 use sse_stream::Error as SseError;
 use thiserror::Error;
@@ -32,6 +33,10 @@ pub enum SseTransportError<E: std::error::Error + Send + Sync + 'static> {
     #[cfg_attr(docsrs, doc(cfg(feature = "auth")))]
     #[error("Auth error: {0}")]
     Auth(#[from] crate::transport::auth::AuthError),
+    #[error("Invalid uri: {0}")]
+    InvalidUri(#[from] http::uri::InvalidUri),
+    #[error("Invalid uri parts: {0}")]
+    InvalidUriParts(#[from] http::uri::InvalidUriParts),
 }
 
 impl From<reqwest::Error> for SseTransportError<reqwest::Error> {
@@ -44,13 +49,13 @@ pub trait SseClient: Clone + Send + Sync + 'static {
     type Error: std::error::Error + Send + Sync + 'static;
     fn post_message(
         &self,
-        uri: Arc<str>,
+        uri: Uri,
         message: ClientJsonRpcMessage,
         auth_token: Option<String>,
     ) -> impl Future<Output = Result<(), SseTransportError<Self::Error>>> + Send + '_;
     fn get_stream(
         &self,
-        uri: Arc<str>,
+        uri: Uri,
         last_event_id: Option<String>,
         auth_token: Option<String>,
     ) -> impl Future<Output = Result<BoxedSseResponse, SseTransportError<Self::Error>>> + Send + '_;
@@ -58,7 +63,7 @@ pub trait SseClient: Clone + Send + Sync + 'static {
 
 struct SseClientReconnect<C> {
     pub client: C,
-    pub uri: Arc<str>,
+    pub uri: Uri,
 }
 
 impl<C: SseClient> SseStreamReconnect for SseClientReconnect<C> {
@@ -75,7 +80,7 @@ type ServerMessageStream<C> = Pin<Box<SseAutoReconnectStream<SseClientReconnect<
 pub struct SseClientTransport<C: SseClient> {
     client: C,
     config: SseClientConfig,
-    post_uri: Arc<str>,
+    message_endpoint: Uri,
     stream: Option<ServerMessageStream<C>>,
 }
 
@@ -89,7 +94,7 @@ impl<C: SseClient> Transport<RoleClient> for SseClientTransport<C> {
         item: crate::service::TxJsonRpcMessage<RoleClient>,
     ) -> impl Future<Output = Result<(), Self::Error>> + Send + 'static {
         let client = self.client.clone();
-        let uri = self.post_uri.clone();
+        let uri = self.message_endpoint.clone();
         async move { client.post_message(uri, item, None).await }
     }
     async fn close(&mut self) -> Result<(), Self::Error> {
@@ -112,9 +117,11 @@ impl<C: SseClient> SseClientTransport<C> {
         client: C,
         config: SseClientConfig,
     ) -> Result<Self, SseTransportError<C::Error>> {
-        let mut sse_stream = client.get_stream(config.uri.clone(), None, None).await?;
-        let endpoint = if let Some(endpoint) = config.use_endpoint.clone() {
-            endpoint
+        let sse_endpoint = config.sse_endpoint.as_ref().parse::<http::Uri>()?;
+
+        let mut sse_stream = client.get_stream(sse_endpoint.clone(), None, None).await?;
+        let message_endpoint = if let Some(endpoint) = config.use_message_endpoint.clone() {
+            endpoint.parse::<http::Uri>()?
         } else {
             // wait the endpoint event
             loop {
@@ -125,27 +132,29 @@ impl<C: SseClient> SseClientTransport<C> {
                 let Some("endpoint") = sse.event.as_deref() else {
                     continue;
                 };
-                break sse.data.unwrap_or_default();
+                let sse_endpoint = sse.data.unwrap_or_default();
+                break sse_endpoint.parse::<http::Uri>()?;
             }
         };
-        let post_uri: Arc<str> = format!(
-            "{}/{}",
-            config.uri.trim_end_matches("/"),
-            endpoint.trim_start_matches("/")
-        )
-        .into();
+
+        // sse: <authority><sse_pq> -> <authority><message_pq>
+        let message_endpoint = {
+            let mut sse_endpoint_parts = sse_endpoint.clone().into_parts();
+            sse_endpoint_parts.path_and_query = message_endpoint.into_parts().path_and_query;
+            Uri::from_parts(sse_endpoint_parts)?
+        };
         let stream = Box::pin(SseAutoReconnectStream::new(
             sse_stream,
             SseClientReconnect {
                 client: client.clone(),
-                uri: config.uri.clone(),
+                uri: sse_endpoint.clone(),
             },
             config.retry_policy.clone(),
         ));
         Ok(Self {
             client,
             config,
-            post_uri,
+            message_endpoint,
             stream: Some(stream),
         })
     }
@@ -153,18 +162,29 @@ impl<C: SseClient> SseClientTransport<C> {
 
 #[derive(Debug, Clone)]
 pub struct SseClientConfig {
-    pub uri: Arc<str>,
+    /// client sse endpoint
+    ///
+    /// # How this client resolve the message endpoint
+    /// if sse_endpoint has this format: `<schema><authority?><sse_pq>`,
+    /// then the message endpoint will be `<schema><authority?><message_pq>`.
+    ///
+    /// For example, if you config the sse_endpoint as `http://example.com/some_path/sse`,
+    /// and the server send the message endpoint event as `message?session_id=123`,
+    /// then the message endpoint will be `http://example.com/message`.
+    ///
+    /// This follow the rules of JavaScript's [`new URL(url, base)`](https://developer.mozilla.org/zh-CN/docs/Web/API/URL/URL)
+    pub sse_endpoint: Arc<str>,
     pub retry_policy: Arc<dyn SseRetryPolicy>,
     /// if this is settled, the client will use this endpoint to send message and skip get the endpoint event
-    pub use_endpoint: Option<String>,
+    pub use_message_endpoint: Option<String>,
 }
 
 impl Default for SseClientConfig {
     fn default() -> Self {
         Self {
-            uri: "".into(),
+            sse_endpoint: "".into(),
             retry_policy: Arc::new(super::common::client_side_sse::FixedInterval::default()),
-            use_endpoint: None,
+            use_message_endpoint: None,
         }
     }
 }
diff --git a/examples/clients/src/oauth_client.rs b/examples/clients/src/oauth_client.rs
index 8002e2a0..47818352 100644
--- a/examples/clients/src/oauth_client.rs
+++ b/examples/clients/src/oauth_client.rs
@@ -147,7 +147,7 @@ async fn main() -> Result<()> {
     let transport = SseClientTransport::start_with_client(
         client,
         SseClientConfig {
-            uri: MCP_SSE_URL.into(),
+            sse_endpoint: MCP_SSE_URL.into(),
             ..Default::default()
         },
     )