diff --git a/spring/boot-actuator-autoconfigure/src/main/java/com/linecorp/armeria/spring/actuate/ArmeriaSpringActuatorAutoConfiguration.java b/spring/boot-actuator-autoconfigure/src/main/java/com/linecorp/armeria/spring/actuate/ArmeriaSpringActuatorAutoConfiguration.java
index 89e0b51622b..89ed7fcec74 100644
--- a/spring/boot-actuator-autoconfigure/src/main/java/com/linecorp/armeria/spring/actuate/ArmeriaSpringActuatorAutoConfiguration.java
+++ b/spring/boot-actuator-autoconfigure/src/main/java/com/linecorp/armeria/spring/actuate/ArmeriaSpringActuatorAutoConfiguration.java
@@ -103,6 +103,12 @@ WebEndpointDiscoverer webEndpointDiscoverer(
                                          filters.orderedStream().collect(toImmutableList()));
     }
 
+    @Bean
+    @ConditionalOnMissingBean // In case HealthEndpointAutoConfiguration is excluded
+    HealthStatusHttpMapper healthStatusHttpMapper() {
+        return new HealthStatusHttpMapper();
+    }
+
     @Bean
     ArmeriaServerConfigurator actuatorServerConfigurator(
             WebEndpointsSupplier endpointsSupplier,