diff --git a/numpydoc/tests/test_validate.py b/numpydoc/tests/test_validate.py
index 97c621e5..080affab 100644
--- a/numpydoc/tests/test_validate.py
+++ b/numpydoc/tests/test_validate.py
@@ -482,6 +482,30 @@ def valid_options_in_parameter_description_sets(self, bar):
         >>> result = 1 + 1
         """
 
+    def parameters_with_trailing_underscores(self, str_):
+        r"""
+        Ensure PR01 and PR02 errors are not raised with trailing underscores.
+
+        Parameters with trailing underscores need to be escaped to render
+        properly in the documentation since trailing underscores are used to
+        create links. Doing so without also handling the change in the validation
+        logic makes it impossible to both pass validation and render correctly.
+
+        Parameters
+        ----------
+        str\_ : str
+           Some text.
+
+        See Also
+        --------
+        related : Something related.
+
+        Examples
+        --------
+        >>> result = 1 + 1
+        """
+        pass
+
 
 class BadGenericDocStrings:
     """Everything here has a bad docstring"""
@@ -1120,6 +1144,7 @@ def test_good_class(self, capsys):
             "other_parameters",
             "warnings",
             "valid_options_in_parameter_description_sets",
+            "parameters_with_trailing_underscores",
         ],
     )
     def test_good_functions(self, capsys, func):
diff --git a/numpydoc/validate.py b/numpydoc/validate.py
index 4a323b92..cc058f0d 100644
--- a/numpydoc/validate.py
+++ b/numpydoc/validate.py
@@ -330,7 +330,7 @@ def add_stars(param_name, info):
     def parameter_mismatches(self):
         errs = []
         signature_params = self.signature_parameters
-        all_params = tuple(self.doc_all_parameters)
+        all_params = tuple(param.replace("\\", "") for param in self.doc_all_parameters)
         missing = set(signature_params) - set(all_params)
         if missing:
             errs.append(error("PR01", missing_params=str(missing)))