diff --git a/instrumentation/action_pack/Appraisals b/instrumentation/action_pack/Appraisals
index 018ce75b2..895a185d4 100644
--- a/instrumentation/action_pack/Appraisals
+++ b/instrumentation/action_pack/Appraisals
@@ -4,6 +4,10 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
+appraise 'rails-6.0' do
+  gem 'rails', '~> 6.0.0'
+end
+
 appraise 'rails-6.1' do
   gem 'rails', '~> 6.1.0'
 end
diff --git a/instrumentation/action_pack/lib/opentelemetry/instrumentation/action_pack/handlers/action_controller.rb b/instrumentation/action_pack/lib/opentelemetry/instrumentation/action_pack/handlers/action_controller.rb
index dc5a8a308..15d54a5bb 100644
--- a/instrumentation/action_pack/lib/opentelemetry/instrumentation/action_pack/handlers/action_controller.rb
+++ b/instrumentation/action_pack/lib/opentelemetry/instrumentation/action_pack/handlers/action_controller.rb
@@ -24,15 +24,18 @@ def initialize(config)
           def start(_name, _id, payload)
             rack_span = OpenTelemetry::Instrumentation::Rack.current_span
 
-            # from rails 6.1, the request is added to payload
-            rack_span.name = "#{payload[:controller]}##{payload[:action]}" unless payload[:request].env['action_dispatch.exception']
+            # from rails 6.1, the request will be added to payload
+            request = payload[:request]
+            request = payload[:headers].instance_variable_get(:@req) if ::ActionPack.version < Gem::Version.new('6.1.0')
+
+            rack_span.name = "#{payload[:controller]}##{payload[:action]}" unless request.env['action_dispatch.exception']
 
             attributes_to_append = {
               OpenTelemetry::SemanticConventions::Trace::CODE_NAMESPACE => String(payload[:controller]),
               OpenTelemetry::SemanticConventions::Trace::CODE_FUNCTION => String(payload[:action])
             }
 
-            attributes_to_append[OpenTelemetry::SemanticConventions::Trace::HTTP_TARGET] = payload[:request].filtered_path if payload[:request].filtered_path != payload[:request].fullpath
+            attributes_to_append[OpenTelemetry::SemanticConventions::Trace::HTTP_TARGET] = request.filtered_path if request.filtered_path != request.fullpath
 
             rack_span.add_attributes(attributes_to_append)
           rescue StandardError => e
diff --git a/instrumentation/action_pack/lib/opentelemetry/instrumentation/action_pack/instrumentation.rb b/instrumentation/action_pack/lib/opentelemetry/instrumentation/action_pack/instrumentation.rb
index cad8a14a4..896bf4621 100644
--- a/instrumentation/action_pack/lib/opentelemetry/instrumentation/action_pack/instrumentation.rb
+++ b/instrumentation/action_pack/lib/opentelemetry/instrumentation/action_pack/instrumentation.rb
@@ -9,7 +9,7 @@ module Instrumentation
     module ActionPack
       # The Instrumentation class contains logic to detect and install the ActionPack instrumentation
       class Instrumentation < OpenTelemetry::Instrumentation::Base
-        MINIMUM_VERSION = Gem::Version.new('6.1.0')
+        MINIMUM_VERSION = Gem::Version.new('6.0.0')
 
         install do |_config|
           require_railtie
diff --git a/instrumentation/action_pack/test/test_helpers/app_config.rb b/instrumentation/action_pack/test/test_helpers/app_config.rb
index 8874d61e2..b62d198de 100644
--- a/instrumentation/action_pack/test/test_helpers/app_config.rb
+++ b/instrumentation/action_pack/test/test_helpers/app_config.rb
@@ -28,6 +28,8 @@ def initialize_app(use_exceptions_app: false, remove_rack_tracer_middleware: fal
     new_app.config.filter_parameters = [:param_to_be_filtered]
 
     case Rails.version
+    when /^6\.0/
+      apply_rails_6_0_configs(new_app)
     when /^6\.1/
       apply_rails_6_1_configs(new_app)
     when /^7\./
@@ -71,6 +73,13 @@ def add_middlewares(application)
     )
   end
 
+  def apply_rails_6_0_configs(application)
+    # Required in Rails 6
+    application.config.hosts << 'example.org'
+    # Creates a lot of deprecation warnings on subsequent app initializations if not explicitly set.
+    application.config.action_view.finalize_compiled_template_methods = ActionView::Railtie::NULL_OPTION
+  end
+
   def apply_rails_6_1_configs(application)
     # Required in Rails 6
     application.config.hosts << 'example.org'