diff --git a/actionpack/CHANGELOG.md b/actionpack/CHANGELOG.md
index d7be6de5f58..f86b51e6393 100644
--- a/actionpack/CHANGELOG.md
+++ b/actionpack/CHANGELOG.md
@@ -1,3 +1,7 @@
+*   Request Forgery takes relative paths into account.
+
+    *Stefan Wienert*
+
 *   Add ".test" as a default allowed host in development to ensure smooth golden-path setup with puma.dev.
 
     *DHH*
diff --git a/actionpack/lib/action_controller/metal/request_forgery_protection.rb b/actionpack/lib/action_controller/metal/request_forgery_protection.rb
index 215b1bfb1b0..30492df2e99 100644
--- a/actionpack/lib/action_controller/metal/request_forgery_protection.rb
+++ b/actionpack/lib/action_controller/metal/request_forgery_protection.rb
@@ -635,6 +635,15 @@ module ActionController # :nodoc:
 
       def normalize_action_path(action_path) # :doc:
         uri = URI.parse(action_path)
+
+        if uri.relative? && (action_path.blank? || !action_path.start_with?("/"))
+          uri = URI.parse(request.path)
+          # add the action path to the request.path
+          uri.path += "/#{action_path}"
+          # relative path with "./path"
+          uri.path.gsub!("/./", "/")
+        end
+
         uri.path.chomp("/")
       end
 
diff --git a/actionpack/test/controller/request_forgery_protection_test.rb b/actionpack/test/controller/request_forgery_protection_test.rb
index 85a3e8cf5a2..de8606d49e9 100644
--- a/actionpack/test/controller/request_forgery_protection_test.rb
+++ b/actionpack/test/controller/request_forgery_protection_test.rb
@@ -1112,6 +1112,45 @@ class PerFormTokensControllerTest < ActionController::TestCase
     assert_response :success
   end
 
+  def test_handles_empty_path_as_request_path
+    get :index, params: { form_path: "" }
+
+    form_token = assert_presence_and_fetch_form_csrf_token
+
+    # This is required because PATH_INFO isn't reset between requests.
+    @request.env["PATH_INFO"] = "/per_form_tokens"
+    assert_nothing_raised do
+      post :post_one, params: { custom_authenticity_token: form_token }
+    end
+    assert_response :success
+  end
+
+  def test_handles_relative_paths
+    get :index, params: { form_path: "post_one" }
+
+    form_token = assert_presence_and_fetch_form_csrf_token
+
+    # This is required because PATH_INFO isn't reset between requests.
+    @request.env["PATH_INFO"] = "/per_form_tokens/post_one"
+    assert_nothing_raised do
+      post :post_one, params: { custom_authenticity_token: form_token }
+    end
+    assert_response :success
+  end
+
+  def test_handles_relative_paths_with_dot
+    get :index, params: { form_path: "./post_one" }
+
+    form_token = assert_presence_and_fetch_form_csrf_token
+
+    # This is required because PATH_INFO isn't reset between requests.
+    @request.env["PATH_INFO"] = "/per_form_tokens/post_one"
+    assert_nothing_raised do
+      post :post_one, params: { custom_authenticity_token: form_token }
+    end
+    assert_response :success
+  end
+
   def test_ignores_origin_during_generation
     get :index, params: { form_path: "https://example.com/per_form_tokens/post_one/" }