diff --git a/src/StimulusBundle/src/AssetMapper/ControllersMapGenerator.php b/src/StimulusBundle/src/AssetMapper/ControllersMapGenerator.php
index a9b3a33cf7b..5fff70ce628 100644
--- a/src/StimulusBundle/src/AssetMapper/ControllersMapGenerator.php
+++ b/src/StimulusBundle/src/AssetMapper/ControllersMapGenerator.php
@@ -62,7 +62,7 @@ private function loadCustomControllers(): array
         foreach ($finder as $file) {
             $name = $file->getRelativePathname();
             $name = str_replace(['_controller.js', '-controller.js'], '', $name);
-            $name = str_replace('/', '--', $name);
+            $name = str_replace(['_', '/'], ['-', '--'], $name);
 
             $asset = $this->assetMapper->getAssetFromSourcePath($file->getRealPath());
             $isLazy = preg_match('/\/\*\s*stimulusFetch:\s*\'lazy\'\s*\*\//i', $asset->content);
diff --git a/src/StimulusBundle/tests/AssetMapper/ControllerMapGeneratorTest.php b/src/StimulusBundle/tests/AssetMapper/ControllerMapGeneratorTest.php
index bd4decc3882..5f93913c1c4 100644
--- a/src/StimulusBundle/tests/AssetMapper/ControllerMapGeneratorTest.php
+++ b/src/StimulusBundle/tests/AssetMapper/ControllerMapGeneratorTest.php
@@ -54,8 +54,8 @@ public function testGetControllersMap()
         $map = $generator->getControllersMap();
         // + 3 controller.json UX controllers
         // - 1 controllers.json UX controller is disabled
-        // + 4 custom controllers (1 file is not a controller & 1 is overridden)
-        $this->assertCount(6, $map);
+        // + 8 custom controllers (1 file is not a controller & 1 is overridden)
+        $this->assertCount(10, $map);
         $packageNames = array_keys($map);
         sort($packageNames);
         $this->assertSame([
@@ -63,8 +63,12 @@ public function testGetControllersMap()
             'fake-vendor--ux-package1--controller-second',
             'fake-vendor--ux-package2--hello-controller',
             'hello',
+            'hello-with-dashes',
+            'hello-with-underscores',
             'other',
             'subdir--deeper',
+            'subdir--deeper-with-dashes',
+            'subdir--deeper-with-underscores',
         ], $packageNames);
 
         $controllerSecond = $map['fake-vendor--ux-package1--controller-second'];
diff --git a/src/StimulusBundle/tests/AssetMapper/StimulusControllerLoaderFunctionalTest.php b/src/StimulusBundle/tests/AssetMapper/StimulusControllerLoaderFunctionalTest.php
index 856aab095f5..15dd9abd9fc 100644
--- a/src/StimulusBundle/tests/AssetMapper/StimulusControllerLoaderFunctionalTest.php
+++ b/src/StimulusBundle/tests/AssetMapper/StimulusControllerLoaderFunctionalTest.php
@@ -40,9 +40,13 @@ public function testFullApplicationLoad()
         $this->assertSame([
             // 1x import from loader.js (which is aliased to @symfony/stimulus-bundle via importmap)
             '/assets/@symfony/stimulus-bundle/controllers.js',
-            // 2x from "controllers" (hello is overridden)
+            // 6x from "controllers" (hello is overridden)
             '/assets/controllers/bye_controller.js',
+            '/assets/controllers/hello-with-dashes-controller.js',
+            '/assets/controllers/hello_with_underscores-controller.js',
             '/assets/controllers/subdir/deeper-controller.js',
+            '/assets/controllers/subdir/deeper-with-dashes-controller.js',
+            '/assets/controllers/subdir/deeper_with_underscores-controller.js',
             // 2x from UX packages, which are enabled in controllers.json
             '/assets/fake-vendor/ux-package1/package-controller-second.js',
             '/assets/fake-vendor/ux-package2/package-hello-controller.js',
@@ -61,14 +65,18 @@ public function testFullApplicationLoad()
         $preLoadHrefs = $crawler->filter('link[rel="modulepreload"]')->each(function ($link) {
             return $link->attr('href');
         });
-        $this->assertCount(6, $preLoadHrefs);
+        $this->assertCount(10, $preLoadHrefs);
         sort($preLoadHrefs);
         $this->assertStringStartsWith('/assets/@symfony/stimulus-bundle/controllers-', $preLoadHrefs[0]);
         $this->assertStringStartsWith('/assets/@symfony/stimulus-bundle/loader-', $preLoadHrefs[1]);
         $this->assertStringStartsWith('/assets/app-', $preLoadHrefs[2]);
-        $this->assertStringStartsWith('/assets/controllers/subdir/deeper-controller-', $preLoadHrefs[3]);
-        $this->assertStringStartsWith('/assets/fake-vendor/ux-package2/package-hello-controller-', $preLoadHrefs[4]);
-        $this->assertStringStartsWith('/assets/more-controllers/hello-controller-', $preLoadHrefs[5]);
+        $this->assertStringStartsWith('/assets/controllers/hello-with-dashes-controller-', $preLoadHrefs[3]);
+        $this->assertStringStartsWith('/assets/controllers/hello_with_underscores-controller-', $preLoadHrefs[4]);
+        $this->assertStringStartsWith('/assets/controllers/subdir/deeper-controller-', $preLoadHrefs[5]);
+        $this->assertStringStartsWith('/assets/controllers/subdir/deeper-with-dashes-controller-', $preLoadHrefs[6]);
+        $this->assertStringStartsWith('/assets/controllers/subdir/deeper_with_underscores-controller-', $preLoadHrefs[7]);
+        $this->assertStringStartsWith('/assets/fake-vendor/ux-package2/package-hello-controller-', $preLoadHrefs[8]);
+        $this->assertStringStartsWith('/assets/more-controllers/hello-controller-', $preLoadHrefs[9]);
     }
 
     protected static function getKernelClass(): string
diff --git a/src/StimulusBundle/tests/fixtures/assets/controllers/hello-controller.js b/src/StimulusBundle/tests/fixtures/assets/controllers/hello-controller.js
index 406bddc7d97..f679c492243 100644
--- a/src/StimulusBundle/tests/fixtures/assets/controllers/hello-controller.js
+++ b/src/StimulusBundle/tests/fixtures/assets/controllers/hello-controller.js
@@ -1,5 +1,4 @@
 // hello-controller.js
-
 import { Controller } from '@hotwired/stimulus';
 
 export default class extends Controller {
diff --git a/src/StimulusBundle/tests/fixtures/assets/controllers/hello-with-dashes-controller.js b/src/StimulusBundle/tests/fixtures/assets/controllers/hello-with-dashes-controller.js
new file mode 100644
index 00000000000..697089fe943
--- /dev/null
+++ b/src/StimulusBundle/tests/fixtures/assets/controllers/hello-with-dashes-controller.js
@@ -0,0 +1,5 @@
+// hello--with-dashes-controller.js
+import { Controller } from '@hotwired/stimulus';
+
+export default class extends Controller {
+}
diff --git a/src/StimulusBundle/tests/fixtures/assets/controllers/hello_with_underscores-controller.js b/src/StimulusBundle/tests/fixtures/assets/controllers/hello_with_underscores-controller.js
new file mode 100644
index 00000000000..8c3e953fae3
--- /dev/null
+++ b/src/StimulusBundle/tests/fixtures/assets/controllers/hello_with_underscores-controller.js
@@ -0,0 +1,5 @@
+// hello_with_underscores-controller.js
+import { Controller } from '@hotwired/stimulus';
+
+export default class extends Controller {
+}
diff --git a/src/StimulusBundle/tests/fixtures/assets/controllers/subdir/deeper-with-dashes-controller.js b/src/StimulusBundle/tests/fixtures/assets/controllers/subdir/deeper-with-dashes-controller.js
new file mode 100644
index 00000000000..47ebd86d6a9
--- /dev/null
+++ b/src/StimulusBundle/tests/fixtures/assets/controllers/subdir/deeper-with-dashes-controller.js
@@ -0,0 +1,5 @@
+// subdir/deeper-with-dashes-controller.js
+import { Controller } from '@hotwired/stimulus';
+
+export default class extends Controller {
+}
diff --git a/src/StimulusBundle/tests/fixtures/assets/controllers/subdir/deeper_with_underscores-controller.js b/src/StimulusBundle/tests/fixtures/assets/controllers/subdir/deeper_with_underscores-controller.js
new file mode 100644
index 00000000000..64394d6eb16
--- /dev/null
+++ b/src/StimulusBundle/tests/fixtures/assets/controllers/subdir/deeper_with_underscores-controller.js
@@ -0,0 +1,5 @@
+// subdir/deeper_with_underscores-controller.js
+import { Controller } from '@hotwired/stimulus';
+
+export default class extends Controller {
+}