diff --git a/.changelog/4551.fixed b/.changelog/4551.fixed
new file mode 100644
index 0000000000..b876160c66
--- /dev/null
+++ b/.changelog/4551.fixed
@@ -0,0 +1 @@
+`opentelemetry-instrumentation-wsgi`: use `PATH_INFO` and `QUERY_STRING` for URL attributes instead of parsing `RAW_URI` or `REQUEST_URI`
diff --git a/instrumentation/opentelemetry-instrumentation-falcon/tests/test_falcon.py b/instrumentation/opentelemetry-instrumentation-falcon/tests/test_falcon.py
index 7dbf55724b..7f216a326e 100644
--- a/instrumentation/opentelemetry-instrumentation-falcon/tests/test_falcon.py
+++ b/instrumentation/opentelemetry-instrumentation-falcon/tests/test_falcon.py
@@ -247,7 +247,7 @@ def _test_method(self, method, old_semconv=True, new_semconv=False):
             SERVER_ADDRESS: "falconframework.org",
             URL_SCHEME: "http",
             SERVER_PORT: 80,
-            URL_PATH: "/" if self._has_fixed_http_target else "/hello",
+            URL_PATH: "/hello",
             CLIENT_PORT: 65133,
             NETWORK_PROTOCOL_VERSION: "1.1",
             "falcon.resource": "HelloWorldResource",
@@ -360,7 +360,7 @@ def test_url_template_new_semconv(self):
                 SERVER_ADDRESS: "falconframework.org",
                 URL_SCHEME: "http",
                 SERVER_PORT: 80,
-                URL_PATH: "/" if self._has_fixed_http_target else "/user/123",
+                URL_PATH: "/user/123",
                 CLIENT_PORT: 65133,
                 NETWORK_PROTOCOL_VERSION: "1.1",
                 "falcon.resource": "UserResource",
diff --git a/instrumentation/opentelemetry-instrumentation-wsgi/src/opentelemetry/instrumentation/wsgi/__init__.py b/instrumentation/opentelemetry-instrumentation-wsgi/src/opentelemetry/instrumentation/wsgi/__init__.py
index aef56d0c6b..47ec15da57 100644
--- a/instrumentation/opentelemetry-instrumentation-wsgi/src/opentelemetry/instrumentation/wsgi/__init__.py
+++ b/instrumentation/opentelemetry-instrumentation-wsgi/src/opentelemetry/instrumentation/wsgi/__init__.py
@@ -262,7 +262,6 @@ def response_hook(span: Span, environ: WSGIEnvironment, status: str, response_he
     OTEL_INSTRUMENTATION_HTTP_CAPTURE_HEADERS_SERVER_REQUEST,
     OTEL_INSTRUMENTATION_HTTP_CAPTURE_HEADERS_SERVER_RESPONSE,
     SanitizeValue,
-    _parse_url_query,
     detect_synthetic_user_agent,
     get_custom_headers,
     normalise_request_header_name,
@@ -360,7 +359,8 @@ def collect_request_attributes(
     if target is None:  # Note: `"" or None is None`
         target = environ.get("REQUEST_URI")
     if target:
-        path, query = _parse_url_query(target)
+        path = environ.get("PATH_INFO")
+        query = environ.get("QUERY_STRING")
         _set_http_target(result, target, path, query, sem_conv_opt_in_mode)
     else:
         # old semconv v1.20.0
diff --git a/instrumentation/opentelemetry-instrumentation-wsgi/tests/test_wsgi_middleware.py b/instrumentation/opentelemetry-instrumentation-wsgi/tests/test_wsgi_middleware.py
index 67d64d9486..3f4af0c9b5 100644
--- a/instrumentation/opentelemetry-instrumentation-wsgi/tests/test_wsgi_middleware.py
+++ b/instrumentation/opentelemetry-instrumentation-wsgi/tests/test_wsgi_middleware.py
@@ -805,6 +805,8 @@ def test_request_attributes_with_full_request_uri(self):
         self.environ["REQUEST_URI"] = (
             "http://docs.python.org:80/3/library/urllib.parse.html?highlight=params#url-parsing"  # Might happen in a CONNECT request
         )
+        self.environ["PATH_INFO"] = "/3/library/urllib.parse.html"
+        self.environ["QUERY_STRING"] = "highlight=params"
         expected_old = {
             HTTP_HOST: "127.0.0.1:8080",
             HTTP_TARGET: "http://docs.python.org:80/3/library/urllib.parse.html?highlight=params#url-parsing",
@@ -825,6 +827,34 @@ def test_request_attributes_with_full_request_uri(self):
             expected_new.items(),
         )
 
+    def test_request_attributes_with_invalid_request_uri_uses_wsgi_environ(
+        self,
+    ):
+        # Previously raised ValueError when REQUEST_URI was parsed.
+        self.environ["REQUEST_URI"] = "http://example.com[invalid"
+        self.environ["PATH_INFO"] = "/safe/path"
+        self.environ["QUERY_STRING"] = "a=b"
+
+        expected_old = {
+            HTTP_TARGET: self.environ["REQUEST_URI"],
+        }
+        expected_new = {
+            URL_PATH: "/safe/path",
+            URL_QUERY: "a=b",
+        }
+
+        self.assertGreaterEqual(
+            otel_wsgi.collect_request_attributes(self.environ).items(),
+            expected_old.items(),
+        )
+        self.assertGreaterEqual(
+            otel_wsgi.collect_request_attributes(
+                self.environ,
+                _StabilityMode.HTTP,
+            ).items(),
+            expected_new.items(),
+        )
+
     def test_http_user_agent_attribute(self):
         self.environ["HTTP_USER_AGENT"] = "test-useragent"
         expected = {HTTP_USER_AGENT: "test-useragent"}