diff --git a/.changelog/5793.fixed b/.changelog/5793.fixed
new file mode 100644
index 0000000000..b7c232806b
--- /dev/null
+++ b/.changelog/5793.fixed
@@ -0,0 +1 @@
+`opentelemetry-propagator-jaeger`: Accept a URL-encoded `uber-trace-id` header on extract
diff --git a/propagator/opentelemetry-propagator-jaeger/src/opentelemetry/propagators/jaeger/__init__.py b/propagator/opentelemetry-propagator-jaeger/src/opentelemetry/propagators/jaeger/__init__.py
index 98c95d0ae6..3470bc90a7 100644
--- a/propagator/opentelemetry-propagator-jaeger/src/opentelemetry/propagators/jaeger/__init__.py
+++ b/propagator/opentelemetry-propagator-jaeger/src/opentelemetry/propagators/jaeger/__init__.py
@@ -185,6 +185,11 @@ def _parse_trace_id_header(
     if header is None:
         return invalid_header_result
 
+    # some Jaeger clients URL-encode the header value, including the ":"
+    # delimiter, so decode it when no plain delimiter can be found
+    if ":" not in header:
+        header = urllib.parse.unquote(header)
+
     fields = header.split(":")
     if len(fields) != 4:
         return invalid_header_result
diff --git a/propagator/opentelemetry-propagator-jaeger/tests/test_jaeger_propagator.py b/propagator/opentelemetry-propagator-jaeger/tests/test_jaeger_propagator.py
index 9d318a0886..3f59953c21 100644
--- a/propagator/opentelemetry-propagator-jaeger/tests/test_jaeger_propagator.py
+++ b/propagator/opentelemetry-propagator-jaeger/tests/test_jaeger_propagator.py
@@ -66,6 +66,14 @@ def test_extract_valid_span(self):
         self.assertEqual(span_context.trace_id, self.trace_id)
         self.assertEqual(span_context.span_id, self.span_id)
 
+    def test_extract_url_encoded_span(self):
+        # some Jaeger clients URL-encode the ':' delimiter of uber-trace-id
+        old_carrier = {FORMAT.TRACE_ID_KEY: self.serialized_uber_trace_id.replace(":", "%3A")}
+        ctx = FORMAT.extract(old_carrier)
+        span_context = trace_api.get_current_span(ctx).get_span_context()
+        self.assertEqual(span_context.trace_id, self.trace_id)
+        self.assertEqual(span_context.span_id, self.span_id)
+
     def test_missing_carrier(self):
         old_carrier = {}
         ctx = FORMAT.extract(old_carrier)