diff --git a/lib/client.js b/lib/client.js
index cf11dd66..a6cd66e5 100644
--- a/lib/client.js
+++ b/lib/client.js
@@ -105,10 +105,11 @@ async function get(config) {
   applyHttpOptionsCustom(client);
   client[custom.clock_tolerance] = config.clockTolerance;
 
-  if (config.idpLogout && !issuer.end_session_endpoint) {
+  if (config.idpLogout) {
     if (
       config.auth0Logout ||
-      url.parse(issuer.issuer).hostname.match('\\.auth0\\.com$')
+      (url.parse(issuer.issuer).hostname.match('\\.auth0\\.com$') &&
+        config.auth0Logout !== false)
     ) {
       Object.defineProperty(client, 'endSessionUrl', {
         value(params) {
@@ -130,7 +131,7 @@ async function get(config) {
           return url.format(parsedUrl);
         },
       });
-    } else {
+    } else if (!issuer.end_session_endpoint) {
       debug('the issuer does not support RP-Initiated Logout');
     }
   }
diff --git a/lib/config.js b/lib/config.js
index 5a48bce6..06565d6b 100644
--- a/lib/config.js
+++ b/lib/config.js
@@ -93,7 +93,7 @@ const paramsSchema = Joi.object({
   })
     .default()
     .unknown(false),
-  auth0Logout: Joi.boolean().optional().default(false),
+  auth0Logout: Joi.boolean().optional(),
   tokenEndpointParams: Joi.object().optional(),
   authorizationParams: Joi.object({
     response_type: Joi.string()
diff --git a/test/client.tests.js b/test/client.tests.js
index 7869f4ec..64e9dd5d 100644
--- a/test/client.tests.js
+++ b/test/client.tests.js
@@ -102,6 +102,95 @@ describe('client initialization', function () {
     });
   });
 
+  describe('auth0 logout option and discovery', function () {
+    const base = {
+      secret: '__test_session_secret__',
+      clientID: '__test_client_id__',
+      clientSecret: '__test_client_secret__',
+      issuerBaseURL: 'https://op.example.com',
+      baseURL: 'https://example.org',
+      idpLogout: true,
+    };
+
+    it('should use discovered logout endpoint by default', async function () {
+      const client = await getClient(getConfig(base));
+      assert.equal(client.endSessionUrl({}), wellKnown.end_session_endpoint);
+    });
+
+    it('should use auth0 logout endpoint if configured', async function () {
+      const client = await getClient(getConfig({ ...base, auth0Logout: true }));
+      assert.equal(
+        client.endSessionUrl({}),
+        'https://op.example.com/v2/logout?client_id=__test_client_id__'
+      );
+    });
+
+    it('should use auth0 logout endpoint if domain is auth0.com', async function () {
+      nock('https://foo.auth0.com')
+        .get('/.well-known/openid-configuration')
+        .reply(200, { ...wellKnown, issuer: 'https://foo.auth0.com/' });
+      const client = await getClient(
+        getConfig({ ...base, issuerBaseURL: 'https://foo.auth0.com' })
+      );
+      assert.equal(
+        client.endSessionUrl({}),
+        'https://foo.auth0.com/v2/logout?client_id=__test_client_id__'
+      );
+    });
+
+    it('should use auth0 logout endpoint if domain is auth0.com and configured', async function () {
+      nock('https://foo.auth0.com')
+        .get('/.well-known/openid-configuration')
+        .reply(200, { ...wellKnown, issuer: 'https://foo.auth0.com/' });
+      const client = await getClient(
+        getConfig({
+          ...base,
+          issuerBaseURL: 'https://foo.auth0.com',
+          auth0Logout: true,
+        })
+      );
+      assert.equal(
+        client.endSessionUrl({}),
+        'https://foo.auth0.com/v2/logout?client_id=__test_client_id__'
+      );
+    });
+
+    it('should not use discovered logout endpoint if domain is auth0.com but configured with auth0logout false', async function () {
+      nock('https://foo.auth0.com')
+        .get('/.well-known/openid-configuration')
+        .reply(200, {
+          ...wellKnown,
+          issuer: 'https://foo.auth0.com/',
+          end_session_endpoint: 'https://foo.auth0.com/oidc/logout',
+        });
+      const client = await getClient(
+        getConfig({
+          ...base,
+          issuerBaseURL: 'https://foo.auth0.com',
+          auth0Logout: false,
+        })
+      );
+      assert.equal(
+        client.endSessionUrl({}),
+        'https://foo.auth0.com/oidc/logout'
+      );
+    });
+
+    it('should create client with no end_session_endpoint', async function () {
+      nock('https://op2.example.com')
+        .get('/.well-known/openid-configuration')
+        .reply(200, {
+          ...wellKnown,
+          issuer: 'https://op2.example.com',
+          end_session_endpoint: undefined,
+        });
+      const client = await getClient(
+        getConfig({ ...base, issuerBaseURL: 'https://op2.example.com' })
+      );
+      assert.throws(() => client.endSessionUrl({}));
+    });
+  });
+
   describe('client respects httpTimeout configuration', function () {
     const config = getConfig({
       secret: '__test_session_secret__',
diff --git a/test/config.tests.js b/test/config.tests.js
index 51bd9542..beb63559 100644
--- a/test/config.tests.js
+++ b/test/config.tests.js
@@ -86,12 +86,12 @@ describe('get config', () => {
     });
   });
 
-  it('auth0Logout and idpLogout should default to false', () => {
+  it('auth0Logout should default to undefined and idpLogout should default to false', () => {
     const config = getConfig(defaultConfig);
     assert.include(config, {
-      auth0Logout: false,
       idpLogout: false,
     });
+    assert.isUndefined(config.auth0Logout);
   });
 
   it('should not set auth0Logout to true when idpLogout is true', () => {
@@ -100,9 +100,9 @@ describe('get config', () => {
       idpLogout: true,
     });
     assert.include(config, {
-      auth0Logout: false,
       idpLogout: true,
     });
+    assert.isUndefined(config.auth0Logout);
   });
 
   it('should set default route paths', () => {