diff --git a/spring-grpc-spring-boot-autoconfigure/src/main/java/org/springframework/grpc/autoconfigure/server/GrpcServerFactoryAutoConfiguration.java b/spring-grpc-spring-boot-autoconfigure/src/main/java/org/springframework/grpc/autoconfigure/server/GrpcServerFactoryAutoConfiguration.java
index 8182cf04..4aae02ae 100644
--- a/spring-grpc-spring-boot-autoconfigure/src/main/java/org/springframework/grpc/autoconfigure/server/GrpcServerFactoryAutoConfiguration.java
+++ b/spring-grpc-spring-boot-autoconfigure/src/main/java/org/springframework/grpc/autoconfigure/server/GrpcServerFactoryAutoConfiguration.java
@@ -25,14 +25,17 @@
 import org.springframework.boot.autoconfigure.condition.ConditionalOnClass;
 import org.springframework.boot.autoconfigure.condition.ConditionalOnNotWebApplication;
 import org.springframework.boot.autoconfigure.condition.ConditionalOnWebApplication;
+import org.springframework.boot.context.properties.PropertyMapper;
 import org.springframework.boot.web.servlet.ServletRegistrationBean;
 import org.springframework.context.annotation.Bean;
 import org.springframework.context.annotation.Configuration;
 import org.springframework.context.annotation.Import;
 import org.springframework.core.Ordered;
+import org.springframework.util.unit.DataSize;
 
 import io.grpc.BindableService;
 import io.grpc.servlet.jakarta.GrpcServlet;
+import io.grpc.servlet.jakarta.ServletServerBuilder;
 
 /**
  * {@link EnableAutoConfiguration Auto-configuration} for gRPC server-side components.
@@ -42,6 +45,7 @@
  *
  * @author David Syer
  * @author Chris Bono
+ * @author Toshiaki Maki
  */
 @AutoConfiguration
 @AutoConfigureOrder(Ordered.HIGHEST_PRECEDENCE)
@@ -62,11 +66,21 @@ static class GrpcServerFactoryConfiguration {
 	static class GrpcServletConfiguration {
 
 		@Bean
-		public ServletRegistrationBean<GrpcServlet> grpcServlet(List<BindableService> services) {
+		public ServletRegistrationBean<GrpcServlet> grpcServlet(GrpcServerProperties properties,
+				List<BindableService> services, ServerBuilderCustomizers serverBuilderCustomizers) {
 			List<String> paths = services.stream()
 				.map(service -> "/" + service.bindService().getServiceDescriptor().getName() + "/*")
 				.collect(Collectors.toList());
-			ServletRegistrationBean<GrpcServlet> servlet = new ServletRegistrationBean<>(new GrpcServlet(services));
+			ServletServerBuilder servletServerBuilder = new ServletServerBuilder();
+			services.forEach(servletServerBuilder::addService);
+			PropertyMapper mapper = PropertyMapper.get().alwaysApplyingWhenNonNull();
+			// Only maxInboundMessageSize is customizable
+			mapper.from(properties.getMaxInboundMessageSize())
+				.asInt(DataSize::toBytes)
+				.to(servletServerBuilder::maxInboundMessageSize);
+			serverBuilderCustomizers.customize(servletServerBuilder);
+			ServletRegistrationBean<GrpcServlet> servlet = new ServletRegistrationBean<>(
+					servletServerBuilder.buildServlet());
 			servlet.setUrlMappings(paths);
 			return servlet;
 		}
diff --git a/spring-grpc-spring-boot-autoconfigure/src/test/java/org/springframework/grpc/autoconfigure/server/GrpcServletAutoConfigurationTests.java b/spring-grpc-spring-boot-autoconfigure/src/test/java/org/springframework/grpc/autoconfigure/server/GrpcServletAutoConfigurationTests.java
index 5e83f9bf..14a5dc3a 100644
--- a/spring-grpc-spring-boot-autoconfigure/src/test/java/org/springframework/grpc/autoconfigure/server/GrpcServletAutoConfigurationTests.java
+++ b/spring-grpc-spring-boot-autoconfigure/src/test/java/org/springframework/grpc/autoconfigure/server/GrpcServletAutoConfigurationTests.java
@@ -16,49 +16,31 @@
 
 package org.springframework.grpc.autoconfigure.server;
 
-import static org.assertj.core.api.Assertions.assertThat;
-import static org.mockito.ArgumentMatchers.any;
-import static org.mockito.ArgumentMatchers.anyInt;
-import static org.mockito.Mockito.inOrder;
-import static org.mockito.Mockito.mock;
-import static org.mockito.Mockito.when;
-
-import java.time.Duration;
-import java.util.List;
-import java.util.concurrent.TimeUnit;
-
-import org.assertj.core.api.InstanceOfAssertFactories;
+import io.grpc.BindableService;
+import io.grpc.ServerServiceDefinition;
+import io.grpc.internal.GrpcUtil;
+import io.grpc.servlet.jakarta.ServletServerBuilder;
 import org.junit.jupiter.api.Test;
-import org.mockito.InOrder;
-import org.mockito.MockedStatic;
-import org.mockito.Mockito;
-import org.mockito.stubbing.Answer;
+
 import org.springframework.boot.autoconfigure.AutoConfigurations;
-import org.springframework.boot.autoconfigure.ssl.SslAutoConfiguration;
 import org.springframework.boot.test.context.FilteredClassLoader;
 import org.springframework.boot.test.context.runner.ApplicationContextRunner;
 import org.springframework.boot.test.context.runner.WebApplicationContextRunner;
 import org.springframework.boot.web.servlet.ServletRegistrationBean;
-import org.springframework.context.annotation.Bean;
-import org.springframework.context.annotation.Configuration;
-import org.springframework.core.annotation.Order;
-import org.springframework.grpc.server.GrpcServerFactory;
-import org.springframework.grpc.server.NettyGrpcServerFactory;
 import org.springframework.grpc.server.ServerBuilderCustomizer;
-import org.springframework.grpc.server.ShadedNettyGrpcServerFactory;
-import org.springframework.grpc.server.lifecycle.GrpcServerLifecycle;
+import org.springframework.util.unit.DataSize;
 
-import io.grpc.BindableService;
-import io.grpc.Grpc;
-import io.grpc.ServerBuilder;
-import io.grpc.ServerServiceDefinition;
-import io.grpc.ServiceDescriptor;
-import io.grpc.netty.NettyServerBuilder;
+import static org.assertj.core.api.Assertions.assertThat;
+import static org.mockito.ArgumentMatchers.any;
+import static org.mockito.Mockito.mock;
+import static org.mockito.Mockito.verify;
+import static org.mockito.Mockito.when;
 
 /**
  * Tests for {@link GrpcServerAutoConfiguration}.
  *
  * @author Chris Bono
+ * @author Toshiaki Maki
  */
 class GrpcServletAutoConfigurationTests {
 
@@ -93,4 +75,29 @@ void whenWebApplicationServletIsAutoConfigured() {
 		this.contextRunner().run((context) -> assertThat(context).getBean(ServletRegistrationBean.class).isNotNull());
 	}
 
+	@Test
+	void whenCustomizerIsRegistered() {
+		ServerBuilderCustomizer<ServletServerBuilder> customizer = mock();
+		this.contextRunner()
+			.withBean(ServerBuilderCustomizer.class, () -> customizer)
+			.run(context -> verify(customizer).customize(any(ServletServerBuilder.class)));
+	}
+
+	@Test
+	void whenMaxInboundMessageSizeIsSetThenItIsUsed() {
+		this.contextRunner()
+			.withPropertyValues("spring.grpc.server.max-inbound-message-size=10KB")
+			.run(context -> assertThat(context).getBean(ServletRegistrationBean.class)
+				.hasFieldOrPropertyWithValue("servlet.servletAdapter.maxInboundMessageSize",
+						Math.toIntExact(DataSize.ofKilobytes(10).toBytes())));
+	}
+
+	@Test
+	void whenMaxInboundMessageSizeIsNotSetThenDefaultIsUsed() {
+		this.contextRunner()
+			.run((context) -> assertThat(context).getBean(ServletRegistrationBean.class)
+				.hasFieldOrPropertyWithValue("servlet.servletAdapter.maxInboundMessageSize",
+						GrpcUtil.DEFAULT_MAX_MESSAGE_SIZE));
+	}
+
 }