diff --git a/RELEASENOTES.md b/RELEASENOTES.md
index f679980992b..0a2ba360245 100644
--- a/RELEASENOTES.md
+++ b/RELEASENOTES.md
@@ -92,6 +92,8 @@
         ([#9379](https://github.com/google/ExoPlayer/issues/9379)).
     *   Handle partial URIs in RTP-Info headers
         ([#9346](https://github.com/google/ExoPlayer/issues/9346)).
+    *   Fix RTSP Session header handling
+        ([#9416](https://github.com/google/ExoPlayer/issues/9416)).
 *   Extractors:
     *   ID3: Fix issue decoding ID3 tags containing UTF-16 encoded strings
         ([#9087](https://github.com/google/ExoPlayer/issues/9087)).
diff --git a/library/rtsp/src/main/java/com/google/android/exoplayer2/source/rtsp/RtspMessageUtil.java b/library/rtsp/src/main/java/com/google/android/exoplayer2/source/rtsp/RtspMessageUtil.java
index a1a9b69afd9..ece8b77653b 100644
--- a/library/rtsp/src/main/java/com/google/android/exoplayer2/source/rtsp/RtspMessageUtil.java
+++ b/library/rtsp/src/main/java/com/google/android/exoplayer2/source/rtsp/RtspMessageUtil.java
@@ -94,7 +94,7 @@ public RtspAuthUserInfo(String username, String password) {
 
   // Session header pattern, see RFC2326 Sections 3.4 and 12.37.
   private static final Pattern SESSION_HEADER_PATTERN =
-      Pattern.compile("([\\w$-_.+]+)(?:;\\s?timeout=(\\d+))?");
+      Pattern.compile("([\\w$\\-_.+]+)(?:;\\s?timeout=(\\d+))?");
 
   // WWW-Authenticate header pattern, see RFC2068 Sections 14.46 and RFC2069.
   private static final Pattern WWW_AUTHENTICATION_HEADER_DIGEST_PATTERN =
diff --git a/library/rtsp/src/test/java/com/google/android/exoplayer2/source/rtsp/RtspMessageUtilTest.java b/library/rtsp/src/test/java/com/google/android/exoplayer2/source/rtsp/RtspMessageUtilTest.java
index b11e82f9c9d..d6a37965c08 100644
--- a/library/rtsp/src/test/java/com/google/android/exoplayer2/source/rtsp/RtspMessageUtilTest.java
+++ b/library/rtsp/src/test/java/com/google/android/exoplayer2/source/rtsp/RtspMessageUtilTest.java
@@ -406,6 +406,16 @@ public void parseSessionHeader_withSessionIdContainingSpecialCharacters_succeeds
     assertThat(sessionHeader.sessionId).isEqualTo("610a63df-9b57.4856_97ac$665f+56e9c04");
   }
 
+  @Test
+  public void parseSessionHeader_withSessionIdContainingSpecialCharactersAndTimeout_succeeds()
+      throws Exception {
+    String sessionHeaderString = "610a63df-9b57.4856_97ac$665f+56e9c04;timeout=60";
+    RtspMessageUtil.RtspSessionHeader sessionHeader =
+        RtspMessageUtil.parseSessionHeader(sessionHeaderString);
+    assertThat(sessionHeader.sessionId).isEqualTo("610a63df-9b57.4856_97ac$665f+56e9c04");
+    assertThat(sessionHeader.timeoutMs).isEqualTo(60_000);
+  }
+
   @Test
   public void removeUserInfo_withUserInfo() {
     Uri uri = Uri.parse("rtsp://user:pass@foo.bar/foo.mkv");