diff --git a/mllib/src/main/scala/org/apache/spark/ml/feature/QuantileDiscretizer.scala b/mllib/src/main/scala/org/apache/spark/ml/feature/QuantileDiscretizer.scala
index 216d99d01f2f..4eedfc4dc0ef 100644
--- a/mllib/src/main/scala/org/apache/spark/ml/feature/QuantileDiscretizer.scala
+++ b/mllib/src/main/scala/org/apache/spark/ml/feature/QuantileDiscretizer.scala
@@ -236,6 +236,18 @@ final class QuantileDiscretizer @Since("1.6.0") (@Since("1.6.0") override val ui
   private def getDistinctSplits(splits: Array[Double]): Array[Double] = {
     splits(0) = Double.NegativeInfinity
     splits(splits.length - 1) = Double.PositiveInfinity
+
+    // 0.0 and -0.0 are distinct values, array.distinct will preserve both of them.
+    // but 0.0 > -0.0 is False which will break the parameter validation checking.
+    // and in scala <= 2.12, there's bug which will cause array.distinct generate
+    // non-deterministic results when array contains both 0.0 and -0.0
+    // So that here we should first normalize all 0.0 and -0.0 to be 0.0
+    // See https://github.com/scala/bug/issues/11995
+    for (i <- 0 until splits.length) {
+      if (splits(i) == -0.0) {
+        splits(i) = 0.0
+      }
+    }
     val distinctSplits = splits.distinct
     if (splits.length != distinctSplits.length) {
       log.warn(s"Some quantiles were identical. Bucketing to ${distinctSplits.length - 1}" +
diff --git a/mllib/src/test/scala/org/apache/spark/ml/feature/QuantileDiscretizerSuite.scala b/mllib/src/test/scala/org/apache/spark/ml/feature/QuantileDiscretizerSuite.scala
index 6f6ab26cbac4..682b87a0f68d 100644
--- a/mllib/src/test/scala/org/apache/spark/ml/feature/QuantileDiscretizerSuite.scala
+++ b/mllib/src/test/scala/org/apache/spark/ml/feature/QuantileDiscretizerSuite.scala
@@ -512,4 +512,22 @@ class QuantileDiscretizerSuite extends MLTest with DefaultReadWriteTest {
     assert(observedNumBuckets === numBuckets,
       "Observed number of buckets does not equal expected number of buckets.")
   }
+
+  test("[SPARK-31676] QuantileDiscretizer raise error parameter splits given invalid value") {
+    import scala.util.Random
+    val rng = new Random(3)
+
+    val a1 = Array.tabulate(200)(_ => rng.nextDouble * 2.0 - 1.0) ++
+      Array.fill(20)(0.0) ++ Array.fill(20)(-0.0)
+
+    val df1 = sc.parallelize(a1, 2).toDF("id")
+
+    val qd = new QuantileDiscretizer()
+      .setInputCol("id")
+      .setOutputCol("out")
+      .setNumBuckets(200)
+      .setRelativeError(0.0)
+
+    qd.fit(df1) // assert no exception raised here.
+  }
 }