diff --git a/.changelog/21556.txt b/.changelog/21556.txt
new file mode 100644
index 00000000000..1bcb9678090
--- /dev/null
+++ b/.changelog/21556.txt
@@ -0,0 +1,3 @@
+```release-note:bug
+resource/aws_route53_record: Fix import with underscores in names
+```
diff --git a/internal/service/route53/record.go b/internal/service/route53/record.go
index 2e46ab820ec..e808a1acd57 100644
--- a/internal/service/route53/record.go
+++ b/internal/service/route53/record.go
@@ -6,7 +6,6 @@ import (
 	"fmt"
 	"log"
 	"math/rand"
-	"regexp"
 	"strconv"
 	"strings"
 	"time"
@@ -30,7 +29,6 @@ const (
 var (
 	r53NoRecordsFound    = errors.New("No matching records found")
 	r53NoHostedZoneFound = errors.New("No matching Hosted Zone found")
-	r53ValidRecordTypes  = regexp.MustCompile("^(A|AAAA|CAA|CNAME|MX|NAPTR|NS|PTR|SOA|SPF|SRV|TXT|DS)$")
 )
 
 func ResourceRecord() *schema.Resource {
@@ -65,23 +63,9 @@ func ResourceRecord() *schema.Resource {
 			},
 
 			"type": {
-				Type:     schema.TypeString,
-				Required: true,
-				ValidateFunc: validation.StringInSlice([]string{
-					route53.RRTypeSoa,
-					route53.RRTypeA,
-					route53.RRTypeTxt,
-					route53.RRTypeNs,
-					route53.RRTypeCname,
-					route53.RRTypeMx,
-					route53.RRTypeNaptr,
-					route53.RRTypePtr,
-					route53.RRTypeSrv,
-					route53.RRTypeSpf,
-					route53.RRTypeAaaa,
-					route53.RRTypeCaa,
-					route53.RRTypeDs,
-				}, false),
+				Type:         schema.TypeString,
+				Required:     true,
+				ValidateFunc: validation.StringInSlice(route53.RRType_Values(), false),
 			},
 
 			"zone_id": {
@@ -975,24 +959,33 @@ func NormalizeAliasName(alias interface{}) string {
 
 func ParseRecordID(id string) [4]string {
 	var recZone, recType, recName, recSet string
-	parts := strings.SplitN(id, "_", 2)
-	if len(parts) == 2 {
+	parts := strings.Split(id, "_")
+	if len(parts) > 1 {
 		recZone = parts[0]
-		firstUnderscore := strings.Index(parts[1][:], "_")
-		// Handles the case of having a DNS name that starts with _
-		if firstUnderscore == 0 {
-			firstUnderscore = strings.Index(parts[1][1:], "_") + 1
-		}
-		if firstUnderscore != -1 {
-			recName, recType = parts[1][0:firstUnderscore], parts[1][firstUnderscore+1:]
-		}
-		if !r53ValidRecordTypes.MatchString(recType) {
-			firstUnderscore = strings.Index(recType, "_")
-			if firstUnderscore != -1 {
-				recType, recSet = recType[0:firstUnderscore], recType[firstUnderscore+1:]
+	}
+	if len(parts) >= 3 {
+		var recTypeIndex int = -1
+		for i, maybeRecType := range parts[1:] {
+			if validRecordType(maybeRecType) {
+				recTypeIndex = i + 1
+				break
 			}
 		}
+		if recTypeIndex > 1 {
+			recName = strings.Join(parts[1:recTypeIndex], "_")
+			recName = strings.TrimSuffix(recName, ".")
+			recType = parts[recTypeIndex]
+			recSet = strings.Join(parts[recTypeIndex+1:], "_")
+		}
 	}
-	recName = strings.TrimSuffix(recName, ".")
 	return [4]string{recZone, recName, recType, recSet}
 }
+
+func validRecordType(s string) bool {
+	for _, v := range route53.RRType_Values() {
+		if v == s {
+			return true
+		}
+	}
+	return false
+}
diff --git a/internal/service/route53/record_test.go b/internal/service/route53/record_test.go
index e1fff390a47..5fa9ccd1bc9 100644
--- a/internal/service/route53/record_test.go
+++ b/internal/service/route53/record_test.go
@@ -96,22 +96,27 @@ func TestParseRecordId(t *testing.T) {
 		{"ABCDEF__underscore.example.com_A_set1", "ABCDEF", "_underscore.example.com", "A", "set1"},
 		{"ABCDEF__underscore.example.com_A_set_with1", "ABCDEF", "_underscore.example.com", "A", "set_with1"},
 		{"ABCDEF__underscore.example.com_A_set_with_1", "ABCDEF", "_underscore.example.com", "A", "set_with_1"},
+		{"ABCDEF_prefix._underscore.example.com_A", "ABCDEF", "prefix._underscore.example.com", "A", ""},
+		{"ABCDEF_prefix._underscore.example.com_A_set", "ABCDEF", "prefix._underscore.example.com", "A", "set"},
+		{"ABCDEF_prefix._underscore.example.com_A_set_underscore", "ABCDEF", "prefix._underscore.example.com", "A", "set_underscore"},
 	}
 
 	for _, tc := range cases {
-		parts := tfroute53.ParseRecordID(tc.Input)
-		if parts[0] != tc.Zone {
-			t.Fatalf("input: %s\noutput: %s\nexpected:%s", tc.Input, parts[0], tc.Zone)
-		}
-		if parts[1] != tc.Name {
-			t.Fatalf("input: %s\noutput: %s\nexpected:%s", tc.Input, parts[1], tc.Name)
-		}
-		if parts[2] != tc.Type {
-			t.Fatalf("input: %s\noutput: %s\nexpected:%s", tc.Input, parts[2], tc.Type)
-		}
-		if parts[3] != tc.Set {
-			t.Fatalf("input: %s\noutput: %s\nexpected:%s", tc.Input, parts[3], tc.Set)
-		}
+		t.Run(tc.Input, func(t *testing.T) {
+			parts := tfroute53.ParseRecordID(tc.Input)
+			if parts[0] != tc.Zone {
+				t.Fatalf("input: %s\nzone: %s\nexpected:%s", tc.Input, parts[0], tc.Zone)
+			}
+			if parts[1] != tc.Name {
+				t.Fatalf("input: %s\nname: %s\nexpected:%s", tc.Input, parts[1], tc.Name)
+			}
+			if parts[2] != tc.Type {
+				t.Fatalf("input: %s\ntype: %s\nexpected:%s", tc.Input, parts[2], tc.Type)
+			}
+			if parts[3] != tc.Set {
+				t.Fatalf("input: %s\nset: %s\nexpected:%s", tc.Input, parts[3], tc.Set)
+			}
+		})
 	}
 }