diff --git a/cmd/spire-server/cli/run/run.go b/cmd/spire-server/cli/run/run.go
index 3ba95d9c3d..7276b491be 100644
--- a/cmd/spire-server/cli/run/run.go
+++ b/cmd/spire-server/cli/run/run.go
@@ -14,6 +14,7 @@ import (
 	"path/filepath"
 	"reflect"
 	"sort"
+	"strconv"
 	"strings"
 	"syscall"
 	"time"
@@ -410,7 +411,7 @@ func NewServerConfig(c *Config, logOptions []log.Option, allowUnknownConfig bool
 		sc.LogReopener = log.ReopenOnSignal(logger, reopenableFile)
 	}
 
-	bindAddress, err := net.ResolveTCPAddr("tcp", fmt.Sprintf("%s:%d", c.Server.BindAddress, c.Server.BindPort))
+	bindAddress, err := net.ResolveTCPAddr("tcp", net.JoinHostPort(strings.Trim(c.Server.BindAddress, "[]"), strconv.Itoa(c.Server.BindPort)))
 	if err != nil {
 		return nil, fmt.Errorf(`could not resolve bind address "%s:%d": %w`, c.Server.BindAddress, c.Server.BindPort, err)
 	}
diff --git a/cmd/spire-server/cli/run/run_test.go b/cmd/spire-server/cli/run/run_test.go
index 9a9135e14d..de917cbb4b 100644
--- a/cmd/spire-server/cli/run/run_test.go
+++ b/cmd/spire-server/cli/run/run_test.go
@@ -515,6 +515,28 @@ func TestNewServerConfig(t *testing.T) {
 				require.Equal(t, 1337, c.BindAddress.Port)
 			},
 		},
+		{
+			msg: "IPv6 bind_address in square brackets and bind_port should be correctly parsed",
+			input: func(c *Config) {
+				c.Server.BindAddress = "[2001:101::]"
+				c.Server.BindPort = 1337
+			},
+			test: func(t *testing.T, c *server.Config) {
+				require.Equal(t, "2001:101::", c.BindAddress.IP.String())
+				require.Equal(t, 1337, c.BindAddress.Port)
+			},
+		},
+		{
+			msg: "IPv6 bind_address without square brackets and bind_port should be correctly parsed",
+			input: func(c *Config) {
+				c.Server.BindAddress = "2001:101::"
+				c.Server.BindPort = 1337
+			},
+			test: func(t *testing.T, c *server.Config) {
+				require.Equal(t, "2001:101::", c.BindAddress.IP.String())
+				require.Equal(t, 1337, c.BindAddress.Port)
+			},
+		},
 		{
 			msg: "bind_address with hostname value should be correctly parsed",
 			input: func(c *Config) {
diff --git a/pkg/common/health/config.go b/pkg/common/health/config.go
index d067e178d4..145009a183 100644
--- a/pkg/common/health/config.go
+++ b/pkg/common/health/config.go
@@ -1,7 +1,8 @@
 package health
 
 import (
-	"fmt"
+	"net"
+	"strings"
 
 	"github.com/hashicorp/hcl/hcl/token"
 )
@@ -24,7 +25,7 @@ type Config struct {
 func (c *Config) getAddress() string {
 	host := "localhost"
 	if c.BindAddress != "" {
-		host = c.BindAddress
+		host = strings.Trim(c.BindAddress, "[]")
 	}
 
 	port := "80"
@@ -32,7 +33,7 @@ func (c *Config) getAddress() string {
 		port = c.BindPort
 	}
 
-	return fmt.Sprintf("%s:%s", host, port)
+	return net.JoinHostPort(host, port)
 }
 
 // getReadyPath returns the configured value or a default