diff --git a/system/Commands/Utilities/Routes/AutoRouterImproved/ControllerMethodReader.php b/system/Commands/Utilities/Routes/AutoRouterImproved/ControllerMethodReader.php
index 6b865226d626..a077633f7011 100644
--- a/system/Commands/Utilities/Routes/AutoRouterImproved/ControllerMethodReader.php
+++ b/system/Commands/Utilities/Routes/AutoRouterImproved/ControllerMethodReader.php
@@ -11,6 +11,7 @@
 
 namespace CodeIgniter\Commands\Utilities\Routes\AutoRouterImproved;
 
+use Config\Routing;
 use ReflectionClass;
 use ReflectionMethod;
 
@@ -31,6 +32,8 @@ final class ControllerMethodReader
      */
     private array $httpMethods;
 
+    private bool $translateURIDashes;
+
     /**
      * @param string $namespace the default namespace
      */
@@ -38,6 +41,9 @@ public function __construct(string $namespace, array $httpMethods)
     {
         $this->namespace   = $namespace;
         $this->httpMethods = $httpMethods;
+
+        $config                   = config(Routing::class);
+        $this->translateURIDashes = $config->translateURIDashes;
     }
 
     /**
@@ -67,7 +73,7 @@ public function read(string $class, string $defaultController = 'Home', string $
             foreach ($this->httpMethods as $httpVerb) {
                 if (strpos($methodName, $httpVerb) === 0) {
                     // Remove HTTP verb prefix.
-                    $methodInUri = lcfirst(substr($methodName, strlen($httpVerb)));
+                    $methodInUri = $this->getUriByMethod($httpVerb, $methodName);
 
                     // Check if it is the default method.
                     if ($methodInUri === $defaultMethod) {
@@ -171,7 +177,27 @@ private function getUriByClass(string $classname): string
             $classPath .= lcfirst($part) . '/';
         }
 
-        return rtrim($classPath, '/');
+        $classUri = rtrim($classPath, '/');
+
+        if ($this->translateURIDashes) {
+            $classUri = str_replace('_', '-', $classUri);
+        }
+
+        return $classUri;
+    }
+
+    /**
+     * @return string URI path part from the method
+     */
+    private function getUriByMethod(string $httpVerb, string $methodName): string
+    {
+        $methodUri = lcfirst(substr($methodName, strlen($httpVerb)));
+
+        if ($this->translateURIDashes) {
+            $methodUri = str_replace('_', '-', $methodUri);
+        }
+
+        return $methodUri;
     }
 
     /**
diff --git a/tests/system/Commands/Utilities/Routes/AutoRouterImproved/ControllerMethodReaderTest.php b/tests/system/Commands/Utilities/Routes/AutoRouterImproved/ControllerMethodReaderTest.php
index 133d0feff781..6d4a0a5917cc 100644
--- a/tests/system/Commands/Utilities/Routes/AutoRouterImproved/ControllerMethodReaderTest.php
+++ b/tests/system/Commands/Utilities/Routes/AutoRouterImproved/ControllerMethodReaderTest.php
@@ -11,8 +11,11 @@
 
 namespace CodeIgniter\Commands\Utilities\Routes\AutoRouterImproved;
 
+use CodeIgniter\Commands\Utilities\Routes\AutoRouterImproved\Controllers\Dash_folder\Dash_controller;
 use CodeIgniter\Commands\Utilities\Routes\AutoRouterImproved\Controllers\Home;
+use CodeIgniter\Config\Factories;
 use CodeIgniter\Test\CIUnitTestCase;
+use Config\Routing;
 use Tests\Support\Controllers\Newautorouting;
 use Tests\Support\Controllers\Remap;
 
@@ -66,6 +69,43 @@ public function testRead(): void
         $this->assertSame($expected, $routes);
     }
 
+    public function testReadTranslateURIDashes(): void
+    {
+        $config                     = config(Routing::class);
+        $config->translateURIDashes = true;
+        Factories::injectMock('config', Routing::class, $config);
+
+        $reader = $this->createControllerMethodReader(
+            'CodeIgniter\Commands\Utilities\Routes\AutoRouterImproved\Controllers'
+        );
+
+        $routes = $reader->read(Dash_controller::class);
+
+        $expected = [
+            0 => [
+                'method'       => 'get',
+                'route'        => 'dash-folder/dash-controller/somemethod',
+                'route_params' => '[/..]',
+                'handler'      => '\CodeIgniter\Commands\Utilities\Routes\AutoRouterImproved\Controllers\Dash_folder\Dash_controller::getSomemethod',
+                'params'       => [
+                    'p1' => false,
+                ],
+            ],
+            [
+                'method'       => 'get',
+                'route'        => 'dash-folder/dash-controller/dash-method',
+                'route_params' => '/..[/..]',
+                'handler'      => '\CodeIgniter\Commands\Utilities\Routes\AutoRouterImproved\Controllers\Dash_folder\Dash_controller::getDash_method',
+                'params'       => [
+                    'p1' => true,
+                    'p2' => false,
+                ],
+            ],
+        ];
+
+        $this->assertSame($expected, $routes);
+    }
+
     public function testReadDefaultController(): void
     {
         $reader = $this->createControllerMethodReader(
diff --git a/tests/system/Commands/Utilities/Routes/AutoRouterImproved/Controllers/Dash_folder/Dash_controller.php b/tests/system/Commands/Utilities/Routes/AutoRouterImproved/Controllers/Dash_folder/Dash_controller.php
new file mode 100644
index 000000000000..486c8529d082
--- /dev/null
+++ b/tests/system/Commands/Utilities/Routes/AutoRouterImproved/Controllers/Dash_folder/Dash_controller.php
@@ -0,0 +1,27 @@
+<?php
+
+declare(strict_types=1);
+
+/**
+ * This file is part of CodeIgniter 4 framework.
+ *
+ * (c) CodeIgniter Foundation <admin@codeigniter.com>
+ *
+ * For the full copyright and license information, please view
+ * the LICENSE file that was distributed with this source code.
+ */
+
+namespace CodeIgniter\Commands\Utilities\Routes\AutoRouterImproved\Controllers\Dash_folder;
+
+use CodeIgniter\Controller;
+
+class Dash_controller extends Controller
+{
+    public function getSomemethod($p1 = ''): void
+    {
+    }
+
+    public function getDash_method($p1, $p2 = ''): void
+    {
+    }
+}