diff --git a/.changes/next-release/service.s3-bugfix-1615508971377612000.json b/.changes/next-release/service.s3-bugfix-1615508971377612000.json
new file mode 100644
index 00000000000..8dcee98c53b
--- /dev/null
+++ b/.changes/next-release/service.s3-bugfix-1615508971377612000.json
@@ -0,0 +1,9 @@
+{
+ "ID": "service.s3-bugfix-1615508971377612000",
+ "SchemaVersion": 1,
+ "Module": "service/s3",
+ "Type": "bugfix",
+ "Description": "Fixed key encoding when addressing S3 Access Points",
+ "MinVersion": "",
+ "AffectedModules": null
+}
\ No newline at end of file
diff --git a/service/s3/internal/customizations/update_endpoint.go b/service/s3/internal/customizations/update_endpoint.go
index bb0569224c7..1e10c19ec82 100644
--- a/service/s3/internal/customizations/update_endpoint.go
+++ b/service/s3/internal/customizations/update_endpoint.go
@@ -3,6 +3,7 @@ package customizations
 import (
 	"context"
 	"fmt"
+	"github.com/aws/smithy-go/encoding/httpbinding"
 	"log"
 	"net/url"
 	"strings"
@@ -229,14 +230,18 @@ func moveBucketNameToHost(u *url.URL, bucket string) {
 
 // remove bucket from url
 func removeBucketFromPath(u *url.URL, bucket string) {
-	// modify url path
-	u.Path = strings.Replace(u.Path, "/"+bucket, "", -1)
+	if strings.HasPrefix(u.Path, "/"+bucket) {
+		// modify url path
+		u.Path = strings.Replace(u.Path, "/"+bucket, "", 1)
+
+		// modify url raw path
+		u.RawPath = strings.Replace(u.RawPath, "/"+httpbinding.EscapePath(bucket, true), "", 1)
+	}
+
 	if u.Path == "" {
 		u.Path = "/"
 	}
 
-	// modify url raw path
-	u.RawPath = strings.Replace(u.RawPath, "/"+bucket, "", -1)
 	if u.RawPath == "" {
 		u.RawPath = "/"
 	}
diff --git a/service/s3/internal/customizations/update_endpoint_internal_test.go b/service/s3/internal/customizations/update_endpoint_internal_test.go
new file mode 100644
index 00000000000..3bba49c3510
--- /dev/null
+++ b/service/s3/internal/customizations/update_endpoint_internal_test.go
@@ -0,0 +1,76 @@
+package customizations
+
+import (
+	"net/url"
+	"strconv"
+	"testing"
+)
+
+func TestRemoveBucketFromPath(t *testing.T) {
+	cases := []struct {
+		url      url.URL
+		bucket   string
+		expected string
+	}{
+		{
+			url: url.URL{
+				Scheme:  "https",
+				Host:    "amazonaws.com",
+				Path:    "/bucket-name/key/path",
+				RawPath: "/bucket-name/key/path",
+			},
+			bucket:   "bucket-name",
+			expected: "https://amazonaws.com/key/path",
+		},
+		{
+			url: url.URL{
+				Scheme:  "https",
+				Host:    "amazonaws.com",
+				Path:    "/bucket-name/key/path/with/bucket-name",
+				RawPath: "/bucket-name/key/path/with/bucket-name",
+			},
+			bucket:   "bucket-name",
+			expected: "https://amazonaws.com/key/path/with/bucket-name",
+		},
+		{
+			url: url.URL{
+				Scheme:  "https",
+				Host:    "amazonaws.com",
+				Path:    "/arn:aws:s3:us-east-1:012345678901:accesspoint:myap/key/path?isEscaped=true",
+				RawPath: "/arn%3Aaws%3As3%3Aus-east-1%3A012345678901%3Aaccesspoint%3Amyap/key/path%3FisEscaped%3Dtrue",
+			},
+			bucket:   "arn:aws:s3:us-east-1:012345678901:accesspoint:myap",
+			expected: "https://amazonaws.com/key/path%3FisEscaped%3Dtrue",
+		},
+		{
+			url: url.URL{
+				Scheme:  "https",
+				Host:    "amazonaws.com",
+				Path:    "/path/to/key",
+				RawPath: "/path/to/key",
+			},
+			bucket:   "not-a-match",
+			expected: "https://amazonaws.com/path/to/key",
+		},
+		{
+			url: url.URL{
+				Scheme:  "https",
+				Host:    "amazonaws.com",
+				Path:    "",
+				RawPath: "",
+			},
+			bucket:   "not-a-match",
+			expected: "https://amazonaws.com/",
+		},
+	}
+
+	for i, tt := range cases {
+		t.Run(strconv.Itoa(i), func(t *testing.T) {
+			removeBucketFromPath(&tt.url, tt.bucket)
+
+			if e, a := tt.expected, tt.url.String(); e != a {
+				t.Errorf("expect %v, got %v", e, a)
+			}
+		})
+	}
+}