diff --git a/src/Symfony/Component/HttpClient/HttpClientTrait.php b/src/Symfony/Component/HttpClient/HttpClientTrait.php
index abf7d86c80..0023e3bbb0 100644
--- a/src/Symfony/Component/HttpClient/HttpClientTrait.php
+++ b/src/Symfony/Component/HttpClient/HttpClientTrait.php
@@ -481,17 +481,20 @@ trait HttpClientTrait
             }
         }
 
-        foreach ($queryArray as $k => $v) {
-            if (is_scalar($v)) {
-                $queryArray[$k] = rawurlencode($k).'='.rawurlencode($v);
-            } elseif (null === $v) {
-                unset($queryArray[$k]);
-
-                if ($replace) {
+        if ($replace) {
+            foreach ($queryArray as $k => $v) {
+                if (null === $v) {
                     unset($query[$k]);
                 }
-            } else {
-                throw new InvalidArgumentException(sprintf('Unsupported value for query parameter "%s": scalar or null expected, %s given.', $k, \gettype($v)));
+            }
+        }
+
+        $queryString = http_build_query($queryArray, '', '&', PHP_QUERY_RFC3986);
+        $queryArray = [];
+
+        if ($queryString) {
+            foreach (explode('&', $queryString) as $v) {
+                $queryArray[rawurldecode(explode('=', $v, 2)[0])] = $v;
             }
         }
 
diff --git a/src/Symfony/Component/HttpClient/Tests/HttpClientTraitTest.php b/src/Symfony/Component/HttpClient/Tests/HttpClientTraitTest.php
index 5a55ec424e..056181e30e 100644
--- a/src/Symfony/Component/HttpClient/Tests/HttpClientTraitTest.php
+++ b/src/Symfony/Component/HttpClient/Tests/HttpClientTraitTest.php
@@ -141,6 +141,10 @@ class HttpClientTraitTest extends TestCase
         yield [[null, null, 'bar', '?a=1&c=c', null], 'bar?a=a&b=b', ['b' => null, 'c' => 'c', 'a' => 1]];
         yield [[null, null, 'bar', '?a=b+c&b=b', null], 'bar?a=b+c', ['b' => 'b']];
         yield [[null, null, 'bar', '?a=b%2B%20c', null], 'bar?a=b+c', ['a' => 'b+ c']];
+        yield [[null, null, 'bar', '?a%5Bb%5D=c', null], 'bar', ['a' => ['b' => 'c']]];
+        yield [[null, null, 'bar', '?a%5Bb%5Bc%5D=d', null], 'bar?a[b[c]=d', []];
+        yield [[null, null, 'bar', '?a%5Bb%5D%5Bc%5D=dd', null], 'bar?a[b][c]=d&e[f]=g', ['a' => ['b' => ['c' => 'dd']], 'e[f]' => null]];
+        yield [[null, null, 'bar', '?a=b&a%5Bb%20c%5D=d&e%3Df=%E2%9C%93', null], 'bar?a=b', ['a' => ['b c' => 'd'], 'e=f' => '✓']];
     }
 
     /**