diff --git a/tests/test_rich_markup_mode.py b/tests/test_rich_markup_mode.py
index df5d0323f0..5002f999f7 100644
--- a/tests/test_rich_markup_mode.py
+++ b/tests/test_rich_markup_mode.py
@@ -284,3 +284,50 @@ def main(arg: str):
     arg_start = [i for i, row in enumerate(result_lines) if "Arguments" in row][0]
     assert help_start != -1
     assert result_lines[help_start:arg_start] == lines
+
+
+@pytest.mark.parametrize(
+    "mode",
+    ["markdown", "rich", None],
+)
+def test_markup_mode_epilog(mode):
+    app = typer.Typer(rich_markup_mode=mode)
+
+    help_string = "Here is a help string"
+
+    epilog_string = """
+    Just wrapping up:
+
+    This is the first conclusion
+    Here is conclusion two
+
+    That's all folks!
+    """
+
+    @app.command(help=help_string, epilog=epilog_string)
+    def main():
+        print("Hello World")
+
+    assert app.rich_markup_mode == mode
+
+    result = runner.invoke(app)
+    assert "Hello World" in result.stdout
+
+    result = runner.invoke(app, ["--help"])
+    result_lines = [line.strip() for line in result.stdout.split("\n")]
+    first_index = result_lines.index("Just wrapping up:")
+    assert first_index > 0
+    assert result_lines[first_index + 1] == ""
+
+    if mode == "rich":
+        assert result_lines[first_index + 2] == "This is the first conclusion"
+        assert result_lines[first_index + 3] == "Here is conclusion two"
+        assert result_lines[first_index + 4] == ""
+        assert result_lines[first_index + 5] == "That's all folks!"
+    else:
+        assert (
+            result_lines[first_index + 2]
+            == "This is the first conclusion Here is conclusion two"
+        )
+        assert result_lines[first_index + 3] == ""
+        assert result_lines[first_index + 4] == "That's all folks!"
diff --git a/typer/rich_utils.py b/typer/rich_utils.py
index d4c3676aea..e0f8c4efc5 100644
--- a/typer/rich_utils.py
+++ b/typer/rich_utils.py
@@ -208,19 +208,7 @@ def _get_help_text(
     if remaining_paragraphs:
         # Add a newline inbetween the header and the remaining paragraphs
         yield Text("")
-        if markup_mode not in (MARKUP_MODE_RICH, MARKUP_MODE_MARKDOWN):
-            # Remove single linebreaks
-            remaining_paragraphs = [
-                x.replace("\n", " ").strip()
-                if not x.startswith("\b")
-                else "{}\n".format(x.strip("\b\n"))
-                for x in remaining_paragraphs
-            ]
-            # Join back together
-            remaining_lines = "\n".join(remaining_paragraphs)
-        else:
-            # Join with double linebreaks if markdown or Rich markup
-            remaining_lines = "\n\n".join(remaining_paragraphs)
+        remaining_lines = _fix_linebreaks(remaining_paragraphs, markup_mode)
 
         yield _make_rich_text(
             text=remaining_lines,
@@ -229,6 +217,22 @@ def _get_help_text(
         )
 
 
+def _fix_linebreaks(paragraphs: List[str], markup_mode: MarkupMode) -> str:
+    if markup_mode not in (MARKUP_MODE_RICH, MARKUP_MODE_MARKDOWN):
+        # Remove single linebreaks
+        paragraphs = [
+            x.replace("\n", " ").strip()
+            if not x.startswith("\b")
+            else "{}\n".format(x.strip("\b\n"))
+            for x in paragraphs
+        ]
+        # Join back together
+        return "\n".join(paragraphs)
+    else:
+        # Join with double linebreaks if markdown or Rich markup
+        return "\n\n".join(paragraphs)
+
+
 def _get_parameter_help(
     *,
     param: Union[click.Option, click.Argument, click.Parameter],
@@ -686,7 +690,7 @@ def rich_format_help(
     if obj.epilog:
         # Remove single linebreaks, replace double with single
         lines = obj.epilog.split("\n\n")
-        epilogue = "\n".join([x.replace("\n", " ").strip() for x in lines])
+        epilogue = _fix_linebreaks(lines, markup_mode)
         epilogue_text = _make_rich_text(text=epilogue, markup_mode=markup_mode)
         console.print(Padding(Align(epilogue_text, pad=False), 1))