diff --git a/lib/stringify.js b/lib/stringify.js
index a2dea7e..c59dba1 100644
--- a/lib/stringify.js
+++ b/lib/stringify.js
@@ -39,12 +39,14 @@ function stringify(input) {
     const value = input[key];
     const encodedKey = encodeString(key) + "=";
 
-    if (i) {
-      result += separator;
-    }
-
     if (Array.isArray(value)) {
       valueLength = value.length;
+      if (valueLength === 0) {
+        continue;
+      }
+      if (result.length > 0) {
+        result += separator;
+      }
       for (let j = 0; j < valueLength; j++) {
         if (j) {
           result += separator;
@@ -56,6 +58,9 @@ function stringify(input) {
         result += getAsPrimitive(value[j]);
       }
     } else {
+      if (result.length > 0) {
+        result += separator;
+      }
       result += encodedKey;
       result += getAsPrimitive(value);
     }
diff --git a/test/stringify.test.ts b/test/stringify.test.ts
index dd3980a..6a671ea 100644
--- a/test/stringify.test.ts
+++ b/test/stringify.test.ts
@@ -97,6 +97,13 @@ test("should coerce numbers to string", () => {
   assert.strictEqual(qs.stringify({ foo: Number.POSITIVE_INFINITY }), "foo=");
 });
 
+test("should skip empty array values without leaving stray separators", () => {
+  assert.strictEqual(qs.stringify({ a: [], b: "1" }), "b=1");
+  assert.strictEqual(qs.stringify({ a: "1", b: [] }), "a=1");
+  assert.strictEqual(qs.stringify({ a: "1", b: [], c: "2" }), "a=1&c=2");
+  assert.strictEqual(qs.stringify({ a: [] }), "");
+});
+
 test("should return empty string on certain inputs", () => {
   assert.strictEqual(qs.stringify(undefined as never), "");
   assert.strictEqual(qs.stringify(0 as never), "");