diff --git a/tonic/Cargo.toml b/tonic/Cargo.toml
index 50d8aa1fe..24fb0b9d6 100644
--- a/tonic/Cargo.toml
+++ b/tonic/Cargo.toml
@@ -31,7 +31,7 @@ prost = ["dep:prost"]
 tls = ["dep:rustls-pemfile", "dep:tokio-rustls", "dep:tokio", "tokio?/rt", "tokio?/macros"]
 tls-roots = ["tls", "channel", "dep:rustls-native-certs"]
 tls-webpki-roots = ["tls", "channel", "dep:webpki-roots"]
-router = ["dep:axum"]
+router = ["dep:axum", "dep:tower", "tower?/util"]
 server = [
   "router",
   "dep:async-stream",
diff --git a/tonic/src/service/router.rs b/tonic/src/service/router.rs
index e7f864f8d..61b69d4df 100644
--- a/tonic/src/service/router.rs
+++ b/tonic/src/service/router.rs
@@ -12,7 +12,7 @@ use std::{
     pin::Pin,
     task::{ready, Context, Poll},
 };
-use tower_service::Service;
+use tower::{Service, ServiceExt};
 
 /// A [`Service`] router.
 #[derive(Debug, Default, Clone)]
@@ -77,7 +77,7 @@ impl Routes {
     {
         self.router = self.router.route_service(
             &format!("/{}/*rest", S::NAME),
-            AxumBodyService { service: svc },
+            svc.map_request(|req: Request<axum::body::Body>| req.map(boxed)),
         );
         self
     }
@@ -143,32 +143,3 @@ impl Future for RoutesFuture {
         }
     }
 }
-
-#[derive(Clone)]
-struct AxumBodyService<S> {
-    service: S,
-}
-
-type BoxFuture<'a, T> = Pin<Box<dyn Future<Output = T> + Send + 'a>>;
-
-impl<S> Service<Request<axum::body::Body>> for AxumBodyService<S>
-where
-    S: Service<Request<BoxBody>, Response = Response<BoxBody>, Error = Infallible>
-        + Clone
-        + Send
-        + 'static,
-    S::Future: Send + 'static,
-{
-    type Response = Response<axum::body::Body>;
-    type Error = Infallible;
-    type Future = BoxFuture<'static, Result<Self::Response, Self::Error>>;
-
-    fn poll_ready(&mut self, cx: &mut Context<'_>) -> Poll<Result<(), Self::Error>> {
-        self.service.poll_ready(cx)
-    }
-
-    fn call(&mut self, req: Request<axum::body::Body>) -> Self::Future {
-        let fut = self.service.call(req.map(boxed));
-        Box::pin(async move { fut.await.map(|res| res.map(axum::body::Body::new)) })
-    }
-}