diff --git a/pkg/kubelet/server/server.go b/pkg/kubelet/server/server.go
index 73a36b5b56b..35f93f161e6 100644
--- a/pkg/kubelet/server/server.go
+++ b/pkg/kubelet/server/server.go
@@ -306,9 +306,10 @@ func NewServer(
 	if auth != nil {
 		server.InstallAuthFilter()
 	}
-	server.InstallDefaultHandlers()
+	server.InstallAuthNotRequiredHandlers()
 	if kubeCfg != nil && kubeCfg.EnableDebuggingHandlers {
-		server.InstallDebuggingHandlers()
+		klog.InfoS("Adding debug handlers to kubelet server")
+		server.InstallAuthRequiredHandlers()
 		// To maintain backward compatibility serve logs and pprof only when enableDebuggingHandlers is also enabled
 		// see https://github.com/kubernetes/kubernetes/pull/87273
 		server.InstallSystemLogHandler(kubeCfg.EnableSystemLogHandler, kubeCfg.EnableSystemLogQuery)
@@ -402,9 +403,11 @@ func (s *Server) getMetricMethodBucket(method string) string {
 	return "other"
 }
 
-// InstallDefaultHandlers registers the default set of supported HTTP request
-// patterns with the restful Container.
-func (s *Server) InstallDefaultHandlers() {
+// InstallAuthNotRequiredHandlers registers request handlers that do not require authorization, which are
+// installed on both the unsecured and secured (TLS) servers.
+// NOTE: This method is maintained for backwards compatibility, but no new endpoints should be added
+// to this set. New handlers should be added under InstallAuthorizedHandlers.
+func (s *Server) InstallAuthNotRequiredHandlers() {
 	s.addMetricsBucketMatcher("healthz")
 	checkers := []healthz.HealthChecker{
 		healthz.PingHealthz,
@@ -480,12 +483,15 @@ func (s *Server) InstallDefaultHandlers() {
 	s.restfulCont.Handle(proberMetricsPath,
 		compbasemetrics.HandlerFor(p, compbasemetrics.HandlerOpts{ErrorHandling: compbasemetrics.ContinueOnError}),
 	)
+
+	// DO NOT ADD NEW HANDLERS HERE!
+	// See note in method comment.
 }
 
-// InstallDebuggingHandlers registers the HTTP request patterns that serve logs or run commands/containers
-func (s *Server) InstallDebuggingHandlers() {
-	klog.InfoS("Adding debug handlers to kubelet server")
-
+// InstallAuthRequiredHandlers registers the HTTP handlers that should only be installed on servers
+// with authorization enabled.
+// NOTE: New endpoints must require authorization.
+func (s *Server) InstallAuthRequiredHandlers() {
 	s.addMetricsBucketMatcher("run")
 	ws := new(restful.WebService)
 	ws.
diff --git a/pkg/kubelet/server/server_test.go b/pkg/kubelet/server/server_test.go
index e3a9340962c..fe58760dd4e 100644
--- a/pkg/kubelet/server/server_test.go
+++ b/pkg/kubelet/server/server_test.go
@@ -44,6 +44,7 @@ import (
 	"k8s.io/apimachinery/pkg/types"
 	"k8s.io/apimachinery/pkg/util/httpstream"
 	"k8s.io/apimachinery/pkg/util/httpstream/spdy"
+	"k8s.io/apimachinery/pkg/util/sets"
 	"k8s.io/apiserver/pkg/authentication/authenticator"
 	"k8s.io/apiserver/pkg/authentication/user"
 	"k8s.io/apiserver/pkg/authorization/authorizer"
@@ -575,6 +576,72 @@ func TestAuthzCoverage(t *testing.T) {
 	}
 }
 
+func TestInstallAuthNotRequiredHandlers(t *testing.T) {
+	fw := newServerTestWithDebug(false, nil)
+	defer fw.testHTTPServer.Close()
+
+	// No new handlers should be added to this list.
+	allowedAuthNotRequiredHandlers := sets.NewString(
+		"/healthz",
+		"/healthz/log",
+		"/healthz/ping",
+		"/healthz/syncloop",
+		"/metrics",
+		"/metrics/slis",
+		"/metrics/cadvisor",
+		"/metrics/probes",
+		"/metrics/resource",
+		"/pods/",
+		"/stats/",
+		"/stats/summary",
+	)
+
+	// These handlers are explicitly disabled.
+	debuggingDisabledHandlers := sets.NewString(
+		"/run/",
+		"/exec/",
+		"/attach/",
+		"/portForward/",
+		"/containerLogs/",
+		"/runningpods/",
+		"/debug/pprof/",
+		"/logs/",
+	)
+	allowedAuthNotRequiredHandlers.Insert(debuggingDisabledHandlers.UnsortedList()...)
+
+	// Test all the non-web-service handlers
+	for _, path := range fw.serverUnderTest.restfulCont.RegisteredHandlePaths() {
+		if !allowedAuthNotRequiredHandlers.Has(path) {
+			t.Errorf("New handler %q must require auth", path)
+		}
+	}
+
+	// Test all the generated web-service paths
+	for _, ws := range fw.serverUnderTest.restfulCont.RegisteredWebServices() {
+		for _, r := range ws.Routes() {
+			if !allowedAuthNotRequiredHandlers.Has(r.Path) {
+				t.Errorf("New handler %q must require auth", r.Path)
+			}
+		}
+	}
+
+	// Ensure the disabled handlers are in fact disabled.
+	for path := range debuggingDisabledHandlers {
+		for _, method := range []string{"GET", "POST", "PUT", "PATCH", "DELETE"} {
+			t.Run(method+":"+path, func(t *testing.T) {
+				req, err := http.NewRequest(method, fw.testHTTPServer.URL+path, nil)
+				require.NoError(t, err)
+
+				resp, err := http.DefaultClient.Do(req)
+				require.NoError(t, err)
+				defer resp.Body.Close() //nolint:errcheck
+
+				assert.Equal(t, http.StatusMethodNotAllowed, resp.StatusCode)
+			})
+		}
+	}
+}
+
 func TestAuthFilters(t *testing.T) {
 	// Enable features.ContainerCheckpoint during test
 	featuregatetesting.SetFeatureGateDuringTest(t, utilfeature.DefaultFeatureGate, features.ContainerCheckpoint, true)