diff --git a/.changes/next-release/bugfix-auth-59087.json b/.changes/next-release/bugfix-auth-59087.json
new file mode 100644
index 000000000000..eb5019123fc8
--- /dev/null
+++ b/.changes/next-release/bugfix-auth-59087.json
@@ -0,0 +1,5 @@
+{
+  "type": "bugfix",
+  "category": "auth",
+  "description": "Require HTTPS when using bearer token authorization"
+}
diff --git a/awscli/botocore/auth.py b/awscli/botocore/auth.py
index 21a8033d3d2c..1db7104eea2d 100644
--- a/awscli/botocore/auth.py
+++ b/awscli/botocore/auth.py
@@ -33,6 +33,7 @@
     urlunsplit,
 )
 from botocore.exceptions import (
+    InvalidEndpointConfigurationError,
     NoAuthTokenError,
     NoCredentialsError,
     UnknownSignatureVersionError,
@@ -876,6 +877,12 @@ def add_auth(self, request):
         if self.auth_token is None:
             raise NoAuthTokenError()
 
+        # Bearer tokens are sent in plaintext so must only be sent over TLS
+        if not request.url.startswith('https'):
+            raise InvalidEndpointConfigurationError(
+                msg='Bearer authorization requires an HTTPS endpoint.'
+            )
+
         auth_header = f'Bearer {self.auth_token.token}'
         if 'Authorization' in request.headers:
             del request.headers['Authorization']
diff --git a/tests/functional/botocore/test_bearer_auth.py b/tests/functional/botocore/test_bearer_auth.py
index 683f68f66104..c1c983f67011 100644
--- a/tests/functional/botocore/test_bearer_auth.py
+++ b/tests/functional/botocore/test_bearer_auth.py
@@ -11,9 +11,12 @@
 # ANY KIND, either express or implied. See the License for the specific
 # language governing permissions and limitations under the License.
 
+import copy
+
 import botocore
 import pytest
 from botocore.config import Config
+from botocore.exceptions import InvalidEndpointConfigurationError
 
 from tests import ClientHTTPStubber, patch_load_service_model
 from tests.functional.test_useragent import (
@@ -253,3 +256,25 @@ def test_user_agent_does_not_have_bearer_service_env_vars_feature_id(
     feature_ids = parse_registered_feature_ids(ua_string)
 
     assert "3" not in feature_ids
+
+
+def test_bearer_auth_rejects_http_endpoint(monkeypatch, patched_session):
+    monkeypatch.setenv(
+        "AWS_BEARER_TOKEN_BEARER_SERVICE", "bearer-service-token"
+    )
+    http_ruleset = copy.deepcopy(MOCK_RULESET)
+    http_ruleset["rules"][0]["endpoint"]["url"] = (
+        "http://bearer-service.us-west-2.amazonaws.com/"
+    )
+    patch_load_service_model(
+        patched_session, monkeypatch, MOCK_SERVICE_MODEL, http_ruleset
+    )
+    client = patched_session.create_client(
+        "bearer-service",
+        region_name="us-west-2",
+    )
+    with ClientHTTPStubber(client) as http_stubber:
+        http_stubber.add_response()
+        with pytest.raises(InvalidEndpointConfigurationError):
+            client.mock_operation(MockOpParam="mock-op-param-value")
+        assert len(http_stubber.requests) == 0
diff --git a/tests/unit/botocore/test_auth_bearer.py b/tests/unit/botocore/test_auth_bearer.py
index f779a5f6e0dd..35d965fa4b82 100644
--- a/tests/unit/botocore/test_auth_bearer.py
+++ b/tests/unit/botocore/test_auth_bearer.py
@@ -13,7 +13,10 @@
 import pytest
 from botocore.auth import BearerAuth
 from botocore.awsrequest import AWSRequest
-from botocore.exceptions import NoAuthTokenError
+from botocore.exceptions import (
+    InvalidEndpointConfigurationError,
+    NoAuthTokenError,
+)
 from botocore.tokens import FrozenAuthToken
 
 cases = [
@@ -43,12 +46,26 @@
         "token": None,
         "expectedException": NoAuthTokenError,
     },
+    {
+        "documentation": "Signer rejects http endpoints",
+        "url": "http://example.com",
+        "headers": {},
+        "token": "mF_9.B5f-4.1JqM",
+        "expectedException": InvalidEndpointConfigurationError,
+    },
+    {
+        "documentation": "Signer rejects http endpoints with existing header",
+        "url": "http://example.com/path?query=value",
+        "headers": {"Authorization": "Bearer foo"},
+        "token": "mF_9.B5f-4.1JqM",
+        "expectedException": InvalidEndpointConfigurationError,
+    },
 ]
 
 
 @pytest.mark.parametrize("test_case", cases)
 def test_bearer_auth(test_case):
-    url = "https://example.com"
+    url = test_case.get("url", "https://example.com")
     headers = test_case.get("headers", {})
     request = AWSRequest(method="GET", url=url, headers=headers)
 
@@ -69,3 +86,7 @@ def test_bearer_auth(test_case):
     elif expected_exception:
         with pytest.raises(expected_exception):
             bearer_auth.add_auth(request)
+        # The token must never be attached when signing fails
+        assert request.headers.get("Authorization") != (
+            f"Bearer {test_case['token']}"
+        )