diff --git a/grape.gemspec b/grape.gemspec
index 3ea7193b77..87b7a89336 100644
--- a/grape.gemspec
+++ b/grape.gemspec
@@ -21,6 +21,7 @@ Gem::Specification.new do |s|
   }
 
   s.add_runtime_dependency 'activesupport', '>= 6'
+  s.add_runtime_dependency 'actionpack', '>= 6'
   s.add_runtime_dependency 'builder'
   s.add_runtime_dependency 'dry-types', '>= 1.1'
   s.add_runtime_dependency 'mustermann-grape', '~> 1.1.0'
diff --git a/lib/grape.rb b/lib/grape.rb
index 6d4d90e1cc..1aafe955f2 100644
--- a/lib/grape.rb
+++ b/lib/grape.rb
@@ -110,6 +110,7 @@ module Extensions
     eager_autoload do
       autoload :Hash
     end
+
     module ActiveSupport
       extend ::ActiveSupport::Autoload
       eager_autoload do
@@ -117,6 +118,13 @@ module ActiveSupport
       end
     end
 
+    module ActionController
+      extend ::ActiveSupport::Autoload
+      eager_autoload do
+        autoload :Parameters
+      end
+    end
+
     module Hashie
       extend ::ActiveSupport::Autoload
       eager_autoload do
diff --git a/lib/grape/extensions/action_controller/parameters.rb b/lib/grape/extensions/action_controller/parameters.rb
new file mode 100644
index 0000000000..3763068b65
--- /dev/null
+++ b/lib/grape/extensions/action_controller/parameters.rb
@@ -0,0 +1,27 @@
+# frozen_string_literal: true
+
+module Grape
+  module Extensions
+    module ActionController
+      class Parameters
+        module ParamBuilder
+          extend ::ActiveSupport::Concern
+
+          included do
+            namespace_inheritable(:build_params_with, Grape::Extensions::ActionController::Parameters::ParamBuilder)
+          end
+
+          def params_builder
+            Grape::Extensions::ActionController::Parameters::ParamBuilder
+          end
+
+          def build_params
+            ::ActionController::Parameters.new(rack_params).tap do |params|
+              params.deep_merge!(grape_routing_args) if env.key?(Grape::Env::GRAPE_ROUTING_ARGS)
+            end
+          end
+        end
+      end
+    end
+  end
+end