diff --git a/src/include/grpc_transcoding/path_matcher.h b/src/include/grpc_transcoding/path_matcher.h
index 9ac6ebc..dcb737e 100644
--- a/src/include/grpc_transcoding/path_matcher.h
+++ b/src/include/grpc_transcoding/path_matcher.h
@@ -374,6 +374,9 @@ void ExtractBindingsFromQueryParameters(
       // Make sure the query parameter is not a system parameter (e.g.
       // `api_key`) before adding the binding.
       if (system_params.find(name) == std::end(system_params)) {
+        name = UrlUnescapeString(name,
+                                 UrlUnescapeSpec::kAllCharacters,
+                                 /*query_param_unescape_plus=*/false);
         // The name of the parameter is a field path, which is a dot-delimited
         // sequence of field names that identify the (potentially deep) field
         // in the request, e.g. `book.author.name`.
diff --git a/test/path_matcher_test.cc b/test/path_matcher_test.cc
index 011d828..9de287e 100644
--- a/test/path_matcher_test.cc
+++ b/test/path_matcher_test.cc
@@ -868,6 +868,12 @@ TEST_F(PathMatcherTest, VariableBindingsWithQueryParamsEncoding) {
                 Binding{FieldPath{"x"}, "$%/ \n"},
             }),
             bindings);
+
+  EXPECT_EQ(LookupWithParams("GET", "/a", "shelf.search%5Bfield%5D=Hello%20world", &bindings), a);
+  EXPECT_EQ(Bindings({
+        Binding{FieldPath{"shelf","search[field]"}, "Hello world"},
+            }),
+            bindings);
 }
 
 TEST_F(PathMatcherTest, QueryParameterNotUnescapePlus) {