diff --git a/src/Symfony/Bundle/SecurityBundle/Resources/config/schema/security-1.0.xsd b/src/Symfony/Bundle/SecurityBundle/Resources/config/schema/security-1.0.xsd
index 1a367b8397213..3b13833629102 100644
--- a/src/Symfony/Bundle/SecurityBundle/Resources/config/schema/security-1.0.xsd
+++ b/src/Symfony/Bundle/SecurityBundle/Resources/config/schema/security-1.0.xsd
@@ -117,7 +117,7 @@
             <xsd:element name="memory" type="memory" />
             <xsd:element name="ldap" type="ldap" />
             <!-- allow factories to use dynamic elements -->
-            <xsd:any processContents="lax" />
+            <xsd:any processContents="lax" namespace="##other" />
         </xsd:choice>
         <xsd:attribute name="name" type="xsd:string" use="required" />
         <xsd:attribute name="id" type="xsd:string" />
@@ -176,7 +176,7 @@
             <xsd:element name="x509" type="x509" minOccurs="0" maxOccurs="1" />
             <xsd:element name="required-badge" type="xsd:string" minOccurs="0" maxOccurs="unbounded" />
             <!-- allow factories to use dynamic elements -->
-            <xsd:any processContents="lax" minOccurs="0" maxOccurs="unbounded" />
+            <xsd:any processContents="lax" minOccurs="0" maxOccurs="unbounded" namespace="##other" />
         </xsd:choice>
         <xsd:attribute name="name" type="xsd:string" use="required" />
         <xsd:attribute name="pattern" type="xsd:string" />
diff --git a/src/Symfony/Bundle/SecurityBundle/Tests/DependencyInjection/Fixtures/Authenticator/CustomAuthenticator.php b/src/Symfony/Bundle/SecurityBundle/Tests/DependencyInjection/Fixtures/Authenticator/CustomAuthenticator.php
new file mode 100644
index 0000000000000..89019e7be41e2
--- /dev/null
+++ b/src/Symfony/Bundle/SecurityBundle/Tests/DependencyInjection/Fixtures/Authenticator/CustomAuthenticator.php
@@ -0,0 +1,29 @@
+<?php
+
+namespace Symfony\Bundle\SecurityBundle\Tests\DependencyInjection\Fixtures\Authenticator;
+
+use Symfony\Bundle\SecurityBundle\DependencyInjection\Security\Factory\AuthenticatorFactoryInterface;
+use Symfony\Component\Config\Definition\Builder\NodeDefinition;
+use Symfony\Component\DependencyInjection\ContainerBuilder;
+
+class CustomAuthenticator implements AuthenticatorFactoryInterface
+{
+    public function createAuthenticator(ContainerBuilder $container, string $firewallName, array $config, string $userProviderId): string
+    {
+        return 'security.authenticator.custom.'.$firewallName;
+    }
+
+    public function getKey(): string
+    {
+        return 'custom';
+    }
+
+    public function addConfiguration(NodeDefinition $builder)
+    {
+    }
+
+    public function getPriority(): int
+    {
+        return 0;
+    }
+}
diff --git a/src/Symfony/Bundle/SecurityBundle/Tests/DependencyInjection/Fixtures/UserProvider/CustomProvider.php b/src/Symfony/Bundle/SecurityBundle/Tests/DependencyInjection/Fixtures/UserProvider/CustomProvider.php
new file mode 100644
index 0000000000000..eac8ac8c8684e
--- /dev/null
+++ b/src/Symfony/Bundle/SecurityBundle/Tests/DependencyInjection/Fixtures/UserProvider/CustomProvider.php
@@ -0,0 +1,28 @@
+<?php
+
+namespace Symfony\Bundle\SecurityBundle\Tests\DependencyInjection\Fixtures\UserProvider;
+
+use Symfony\Bundle\SecurityBundle\DependencyInjection\Security\UserProvider\UserProviderFactoryInterface;
+use Symfony\Component\Config\Definition\Builder\NodeDefinition;
+use Symfony\Component\DependencyInjection\ContainerBuilder;
+
+class CustomProvider implements UserProviderFactoryInterface
+{
+    public function create(ContainerBuilder $container, string $id, array $config)
+    {
+    }
+
+    public function getKey(): string
+    {
+        return 'custom';
+    }
+
+    public function addConfiguration(NodeDefinition $builder)
+    {
+        $builder
+            ->children()
+                ->scalarNode('foo')->defaultValue('bar')->end()
+            ->end()
+        ;
+    }
+}
diff --git a/src/Symfony/Bundle/SecurityBundle/Tests/DependencyInjection/Fixtures/xml/custom_authenticator_under_own_namespace.xml b/src/Symfony/Bundle/SecurityBundle/Tests/DependencyInjection/Fixtures/xml/custom_authenticator_under_own_namespace.xml
new file mode 100644
index 0000000000000..177cb88f59e6b
--- /dev/null
+++ b/src/Symfony/Bundle/SecurityBundle/Tests/DependencyInjection/Fixtures/xml/custom_authenticator_under_own_namespace.xml
@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<container xmlns="http://symfony.com/schema/dic/services"
+           xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+           xmlns:sec="http://symfony.com/schema/dic/security"
+           xsi:schemaLocation="http://symfony.com/schema/dic/services
+        https://symfony.com/schema/dic/services/services-1.0.xsd
+        http://symfony.com/schema/dic/security
+        https://symfony.com/schema/dic/security/security-1.0.xsd">
+
+    <sec:config enable-authenticator-manager="true">
+        <sec:firewall name="main">
+            <custom xmlns="http://example.com/schema" />
+        </sec:firewall>
+    </sec:config>
+
+</container>
diff --git a/src/Symfony/Bundle/SecurityBundle/Tests/DependencyInjection/Fixtures/xml/custom_authenticator_under_security_namespace.xml b/src/Symfony/Bundle/SecurityBundle/Tests/DependencyInjection/Fixtures/xml/custom_authenticator_under_security_namespace.xml
new file mode 100644
index 0000000000000..1dbbc9d9a8901
--- /dev/null
+++ b/src/Symfony/Bundle/SecurityBundle/Tests/DependencyInjection/Fixtures/xml/custom_authenticator_under_security_namespace.xml
@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<container xmlns="http://symfony.com/schema/dic/services"
+           xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+           xmlns:sec="http://symfony.com/schema/dic/security"
+           xsi:schemaLocation="http://symfony.com/schema/dic/services
+        https://symfony.com/schema/dic/services/services-1.0.xsd
+        http://symfony.com/schema/dic/security
+        https://symfony.com/schema/dic/security/security-1.0.xsd">
+
+    <sec:config enable-authenticator-manager="true">
+        <sec:firewall name="main">
+            <sec:custom />
+        </sec:firewall>
+    </sec:config>
+
+</container>
diff --git a/src/Symfony/Bundle/SecurityBundle/Tests/DependencyInjection/Fixtures/xml/custom_provider_under_own_namespace.xml b/src/Symfony/Bundle/SecurityBundle/Tests/DependencyInjection/Fixtures/xml/custom_provider_under_own_namespace.xml
new file mode 100644
index 0000000000000..45d6602516a69
--- /dev/null
+++ b/src/Symfony/Bundle/SecurityBundle/Tests/DependencyInjection/Fixtures/xml/custom_provider_under_own_namespace.xml
@@ -0,0 +1,19 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<container xmlns="http://symfony.com/schema/dic/services"
+           xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+           xmlns:sec="http://symfony.com/schema/dic/security"
+           xsi:schemaLocation="http://symfony.com/schema/dic/services
+        https://symfony.com/schema/dic/services/services-1.0.xsd
+        http://symfony.com/schema/dic/security
+        https://symfony.com/schema/dic/security/security-1.0.xsd">
+
+    <sec:config enable-authenticator-manager="true">
+        <sec:provider name="foo">
+            <custom xmlns="http://example.com/schema" />
+        </sec:provider>
+
+        <sec:firewall name="main" provider="foo" />
+    </sec:config>
+
+</container>
diff --git a/src/Symfony/Bundle/SecurityBundle/Tests/DependencyInjection/Fixtures/xml/custom_provider_under_security_namespace.xml b/src/Symfony/Bundle/SecurityBundle/Tests/DependencyInjection/Fixtures/xml/custom_provider_under_security_namespace.xml
new file mode 100644
index 0000000000000..00890b2d66be0
--- /dev/null
+++ b/src/Symfony/Bundle/SecurityBundle/Tests/DependencyInjection/Fixtures/xml/custom_provider_under_security_namespace.xml
@@ -0,0 +1,19 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<container xmlns="http://symfony.com/schema/dic/services"
+           xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+           xmlns:sec="http://symfony.com/schema/dic/security"
+           xsi:schemaLocation="http://symfony.com/schema/dic/services
+        https://symfony.com/schema/dic/services/services-1.0.xsd
+        http://symfony.com/schema/dic/security
+        https://symfony.com/schema/dic/security/security-1.0.xsd">
+
+    <sec:config enable-authenticator-manager="true">
+        <sec:provider name="foo">
+            <sec:custom />
+        </sec:provider>
+
+        <sec:firewall name="main" provider="foo" />
+    </sec:config>
+
+</container>
diff --git a/src/Symfony/Bundle/SecurityBundle/Tests/DependencyInjection/XmlCustomAuthenticatorTest.php b/src/Symfony/Bundle/SecurityBundle/Tests/DependencyInjection/XmlCustomAuthenticatorTest.php
new file mode 100644
index 0000000000000..de3db233a2060
--- /dev/null
+++ b/src/Symfony/Bundle/SecurityBundle/Tests/DependencyInjection/XmlCustomAuthenticatorTest.php
@@ -0,0 +1,51 @@
+<?php
+
+/*
+ * This file is part of the Symfony package.
+ *
+ * (c) Fabien Potencier <fabien@symfony.com>
+ *
+ * For the full copyright and license information, please view the LICENSE
+ * file that was distributed with this source code.
+ */
+
+namespace Symfony\Bundle\SecurityBundle\Tests\DependencyInjection;
+
+use PHPUnit\Framework\TestCase;
+use Symfony\Bundle\SecurityBundle\DependencyInjection\SecurityExtension;
+use Symfony\Bundle\SecurityBundle\Tests\DependencyInjection\Fixtures\Authenticator\CustomAuthenticator;
+use Symfony\Bundle\SecurityBundle\Tests\DependencyInjection\Fixtures\UserProvider\CustomProvider;
+use Symfony\Component\Config\FileLocator;
+use Symfony\Component\DependencyInjection\ContainerBuilder;
+use Symfony\Component\DependencyInjection\Loader\XmlFileLoader;
+
+class XmlCustomAuthenticatorTest extends TestCase
+{
+    /**
+     * @dataProvider provideXmlConfigurationFile
+     */
+    public function testCustomProviderElement(string $configurationFile)
+    {
+        $container = new ContainerBuilder();
+        $container->setParameter('kernel.debug', false);
+        $container->register('cache.system', \stdClass::class);
+
+        $security = new SecurityExtension();
+        $security->addAuthenticatorFactory(new CustomAuthenticator());
+        $container->registerExtension($security);
+
+        (new XmlFileLoader($container, new FileLocator(__DIR__.'/Fixtures/xml')))->load($configurationFile);
+
+        $container->getCompilerPassConfig()->setRemovingPasses([]);
+        $container->getCompilerPassConfig()->setAfterRemovingPasses([]);
+        $container->compile();
+
+        $this->addToAssertionCount(1);
+    }
+
+    public static function provideXmlConfigurationFile(): iterable
+    {
+        yield 'Custom authenticator element under SecurityBundle’s namespace' => ['custom_authenticator_under_security_namespace.xml'];
+        yield 'Custom authenticator element under its own namespace' => ['custom_authenticator_under_own_namespace.xml'];
+    }
+}
diff --git a/src/Symfony/Bundle/SecurityBundle/Tests/DependencyInjection/XmlCustomProviderTest.php b/src/Symfony/Bundle/SecurityBundle/Tests/DependencyInjection/XmlCustomProviderTest.php
new file mode 100644
index 0000000000000..a3f59fc299a24
--- /dev/null
+++ b/src/Symfony/Bundle/SecurityBundle/Tests/DependencyInjection/XmlCustomProviderTest.php
@@ -0,0 +1,50 @@
+<?php
+
+/*
+ * This file is part of the Symfony package.
+ *
+ * (c) Fabien Potencier <fabien@symfony.com>
+ *
+ * For the full copyright and license information, please view the LICENSE
+ * file that was distributed with this source code.
+ */
+
+namespace Symfony\Bundle\SecurityBundle\Tests\DependencyInjection;
+
+use PHPUnit\Framework\TestCase;
+use Symfony\Bundle\SecurityBundle\DependencyInjection\SecurityExtension;
+use Symfony\Bundle\SecurityBundle\Tests\DependencyInjection\Fixtures\UserProvider\CustomProvider;
+use Symfony\Component\Config\FileLocator;
+use Symfony\Component\DependencyInjection\ContainerBuilder;
+use Symfony\Component\DependencyInjection\Loader\XmlFileLoader;
+
+class XmlCustomProviderTest extends TestCase
+{
+    /**
+     * @dataProvider provideXmlConfigurationFile
+     */
+    public function testCustomProviderElement(string $configurationFile)
+    {
+        $container = new ContainerBuilder();
+        $container->setParameter('kernel.debug', false);
+        $container->register('cache.system', \stdClass::class);
+
+        $security = new SecurityExtension();
+        $security->addUserProviderFactory(new CustomProvider());
+        $container->registerExtension($security);
+
+        (new XmlFileLoader($container, new FileLocator(__DIR__.'/Fixtures/xml')))->load($configurationFile);
+
+        $container->getCompilerPassConfig()->setRemovingPasses([]);
+        $container->getCompilerPassConfig()->setAfterRemovingPasses([]);
+        $container->compile();
+
+        $this->addToAssertionCount(1);
+    }
+
+    public static function provideXmlConfigurationFile(): iterable
+    {
+        yield 'Custom provider element under SecurityBundle’s namespace' => ['custom_provider_under_security_namespace.xml'];
+        yield 'Custom provider element under its own namespace' => ['custom_provider_under_own_namespace.xml'];
+    }
+}
diff --git a/src/Symfony/Bundle/SecurityBundle/composer.json b/src/Symfony/Bundle/SecurityBundle/composer.json
index 097031baffb6d..2ffc3df2e5f12 100644
--- a/src/Symfony/Bundle/SecurityBundle/composer.json
+++ b/src/Symfony/Bundle/SecurityBundle/composer.json
@@ -19,7 +19,7 @@
         "php": ">=7.2.5",
         "ext-xml": "*",
         "symfony/config": "^4.4|^5.0|^6.0",
-        "symfony/dependency-injection": "^5.3|^6.0",
+        "symfony/dependency-injection": "^5.4.43|^6.4.11",
         "symfony/deprecation-contracts": "^2.1|^3",
         "symfony/event-dispatcher": "^5.1|^6.0",
         "symfony/http-kernel": "^5.3|^6.0",
diff --git a/src/Symfony/Component/DependencyInjection/Loader/XmlFileLoader.php b/src/Symfony/Component/DependencyInjection/Loader/XmlFileLoader.php
index 7d52958809f62..c8ecaec19affd 100644
--- a/src/Symfony/Component/DependencyInjection/Loader/XmlFileLoader.php
+++ b/src/Symfony/Component/DependencyInjection/Loader/XmlFileLoader.php
@@ -404,7 +404,33 @@ private function parseFileToDOM(string $file): \DOMDocument
         try {
             $dom = XmlUtils::loadFile($file, [$this, 'validateSchema']);
         } catch (\InvalidArgumentException $e) {
-            throw new InvalidArgumentException(sprintf('Unable to parse file "%s": ', $file).$e->getMessage(), $e->getCode(), $e);
+            $invalidSecurityElements = [];
+            $errors = explode("\n", $e->getMessage());
+            foreach ($errors as $i => $error) {
+                if (preg_match("#^\[ERROR 1871] Element '\{http://symfony\.com/schema/dic/security}([^']+)'#", $error, $matches)) {
+                    $invalidSecurityElements[$i] = $matches[1];
+                }
+            }
+            if ($invalidSecurityElements) {
+                $dom = XmlUtils::loadFile($file);
+
+                foreach ($invalidSecurityElements as $errorIndex => $tagName) {
+                    foreach ($dom->getElementsByTagNameNS('http://symfony.com/schema/dic/security', $tagName) as $element) {
+                        if (!$parent = $element->parentNode) {
+                            continue;
+                        }
+                        if ('http://symfony.com/schema/dic/security' !== $parent->namespaceURI) {
+                            continue;
+                        }
+                        if ('provider' === $parent->localName || 'firewall' === $parent->localName) {
+                            unset($errors[$errorIndex]);
+                        }
+                    }
+                }
+            }
+            if ($errors) {
+                throw new InvalidArgumentException(sprintf('Unable to parse file "%s": ', $file).implode("/n", $errors), $e->getCode(), $e);
+            }
         }
 
         $this->validateExtensions($dom, $file);
@@ -777,6 +803,6 @@ private function loadFromExtensions(\DOMDocument $xml)
      */
     public static function convertDomElementToArray(\DOMElement $element)
     {
-        return XmlUtils::convertDomElementToArray($element);
+        return XmlUtils::convertDomElementToArray($element, false);
     }
 }

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