diff --git a/homeassistant/components/rest_command/__init__.py b/homeassistant/components/rest_command/__init__.py
index 81e63371717..bf51fc2692d 100644
--- a/homeassistant/components/rest_command/__init__.py
+++ b/homeassistant/components/rest_command/__init__.py
@@ -10,6 +10,7 @@ from typing import Any
 import aiohttp
 from aiohttp import hdrs
 import voluptuous as vol
+from yarl import URL
 
 from homeassistant.const import (
     CONF_AUTHENTICATION,
@@ -51,6 +52,7 @@ SUPPORT_REST_METHODS = ["get", "patch", "post", "put", "delete"]
 
 CONF_CONTENT_TYPE = "content_type"
 CONF_INSECURE_CIPHER = "insecure_cipher"
+CONF_SKIP_URL_ENCODING = "skip_url_encoding"
 
 COMMAND_SCHEMA = vol.Schema(
     {
@@ -69,6 +71,7 @@ COMMAND_SCHEMA = vol.Schema(
         vol.Optional(CONF_CONTENT_TYPE): cv.string,
         vol.Optional(CONF_VERIFY_SSL, default=DEFAULT_VERIFY_SSL): cv.boolean,
         vol.Optional(CONF_INSECURE_CIPHER, default=False): cv.boolean,
+        vol.Optional(CONF_SKIP_URL_ENCODING, default=False): cv.boolean,
     }
 )
 
@@ -113,6 +116,7 @@ async def async_setup(hass: HomeAssistant, config: ConfigType) -> bool:
         method = command_config[CONF_METHOD]
 
         template_url = command_config[CONF_URL]
+        skip_url_encoding = command_config[CONF_SKIP_URL_ENCODING]
 
         auth = None
         digest_middleware = None
@@ -179,7 +183,7 @@ async def async_setup(hass: HomeAssistant, config: ConfigType) -> bool:
                     request_kwargs["middlewares"] = (digest_middleware,)
 
                 async with getattr(websession, method)(
-                    request_url,
+                    URL(request_url, encoded=skip_url_encoding),
                     **request_kwargs,
                 ) as response:
                     if response.status < HTTPStatus.BAD_REQUEST:
diff --git a/tests/components/rest_command/test_init.py b/tests/components/rest_command/test_init.py
index 0c8f8a93f65..fdb7c1dd747 100644
--- a/tests/components/rest_command/test_init.py
+++ b/tests/components/rest_command/test_init.py
@@ -6,6 +6,7 @@ from unittest.mock import patch
 
 import aiohttp
 import pytest
+from yarl import URL
 
 from homeassistant.components.rest_command import DOMAIN
 from homeassistant.const import (
@@ -455,3 +456,34 @@ async def test_rest_command_response_iter_chunked(
 
         # Verify iter_chunked was called with a chunk size
         assert mock_iter_chunked.called
+
+
+async def test_rest_command_skip_url_encoding(
+    hass: HomeAssistant,
+    setup_component: ComponentSetup,
+    aioclient_mock: AiohttpClientMocker,
+) -> None:
+    """Check URL encoding."""
+    config = {
+        "skip_url_encoding_test": {
+            "url": "0%2C",
+            "method": "get",
+            "skip_url_encoding": True,
+        },
+        "with_url_encoding_test": {
+            "url": "1,",
+            "method": "get",
+        },
+    }
+
+    await setup_component(config)
+
+    aioclient_mock.get(URL("0%2C", encoded=True), content=b"success")
+    aioclient_mock.get(URL("1,"), content=b"success")
+
+    await hass.services.async_call(DOMAIN, "skip_url_encoding_test", {}, blocking=True)
+    await hass.services.async_call(DOMAIN, "with_url_encoding_test", {}, blocking=True)
+
+    assert len(aioclient_mock.mock_calls) == 2
+    assert str(aioclient_mock.mock_calls[0][1]) == "0%2C"
+    assert str(aioclient_mock.mock_calls[1][1]) == "1,"
diff --git a/tests/test_util/aiohttp.py b/tests/test_util/aiohttp.py
index c3a8be77b77..687de2ece0b 100644
--- a/tests/test_util/aiohttp.py
+++ b/tests/test_util/aiohttp.py
@@ -221,8 +221,8 @@ class AiohttpClientMockResponse:
 
         if (
             self._url.scheme != url.scheme
-            or self._url.host != url.host
-            or self._url.path != url.path
+            or self._url.raw_host != url.raw_host
+            or self._url.raw_path != url.raw_path
         ):
             return False