diff --git a/CHANGELOG.md b/CHANGELOG.md
index e3df4226..388d6742 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -6,6 +6,7 @@
 
 **Features:**
 
+- Add support for x5t header parameter for X.509 certificate thumbprint verification [#669](https://github.com/jwt/ruby-jwt/pull/669) ([@hieuk09](https://github.com/hieuk09))
 - Your contribution here
 
 **Fixes and enhancements:**
diff --git a/README.md b/README.md
index be5921a1..d928b8b2 100644
--- a/README.md
+++ b/README.md
@@ -644,13 +644,14 @@ algorithms = jwks.map { |key| key[:alg] }.compact.uniq
 JWT.decode(token, nil, true, algorithms: algorithms, jwks: jwks)
 ```
 
-The `jwks` option can also be given as a lambda that evaluates every time a kid is resolved.
+The `jwks` option can also be given as a lambda that evaluates every time a key identifier is resolved.
 This can be used to implement caching of remotely fetched JWK Sets.
 
-If the requested `kid` is not found from the given set the loader will be called a second time with the `kid_not_found` option set to `true`.
+Key identifiers can be specified using `kid`, `x5t` header parameters.
+If the requested identifier is not found from the given set the loader will be called a second time with the `kid_not_found` option set to `true`.
 The application can choose to implement some kind of JWK cache invalidation or other mechanism to handle such cases.
 
-Tokens without a specified `kid` are rejected by default.
+Tokens without a specified key identifier (`kid` or `x5t`) are rejected by default.
 This behaviour may be overwritten by setting the `allow_nil_kid` option for `decode` to `true`.
 
 ```ruby
diff --git a/lib/jwt/decode.rb b/lib/jwt/decode.rb
index 77323a84..9a8a0a60 100644
--- a/lib/jwt/decode.rb
+++ b/lib/jwt/decode.rb
@@ -65,7 +65,14 @@ def verify_algo
 
     def set_key
       @key = find_key(&@keyfinder) if @keyfinder
-      @key = ::JWT::JWK::KeyFinder.new(jwks: @options[:jwks], allow_nil_kid: @options[:allow_nil_kid]).key_for(token.header['kid']) if @options[:jwks]
+      if @options[:jwks]
+        @key = ::JWT::JWK::KeyFinder.new(
+          jwks: @options[:jwks],
+          allow_nil_kid: @options[:allow_nil_kid],
+          key_fields: @options[:key_fields]
+        ).call(token)
+      end
+
       return unless (x5c_options = @options[:x5c])
 
       @key = X5cKeyFinder.new(x5c_options[:root_certificates], x5c_options[:crls]).from(token.header['x5c'])
diff --git a/lib/jwt/jwk/key_finder.rb b/lib/jwt/jwk/key_finder.rb
index 80a2e7fe..c7387841 100644
--- a/lib/jwt/jwk/key_finder.rb
+++ b/lib/jwt/jwk/key_finder.rb
@@ -9,6 +9,9 @@ class KeyFinder
       # @param [Hash] options the options to create a KeyFinder with
       # @option options [Proc, JWT::JWK::Set] :jwks the jwks or a loader proc
       # @option options [Boolean] :allow_nil_kid whether to allow nil kid
+      # @option options [Array] :key_fields the fields to use for key matching,
+      #                         the order of the fields are used to determine
+      #                         the priority of the keys.
       def initialize(options)
         @allow_nil_kid = options[:allow_nil_kid]
         jwks_or_loader = options[:jwks]
@@ -18,15 +21,16 @@ def initialize(options)
                        else
                          ->(_options) { jwks_or_loader }
                        end
+
+        @key_fields = options[:key_fields] || %i[kid]
       end
 
       # Returns the verification key for the given kid
       # @param [String] kid the key id
-      def key_for(kid)
-        raise ::JWT::DecodeError, 'No key id (kid) found from token headers' unless kid || @allow_nil_kid
-        raise ::JWT::DecodeError, 'Invalid type for kid header parameter' unless kid.nil? || kid.is_a?(String)
+      def key_for(kid, key_field = :kid)
+        raise ::JWT::DecodeError, "Invalid type for #{key_field} header parameter" unless kid.nil? || kid.is_a?(String)
 
-        jwk = resolve_key(kid)
+        jwk = resolve_key(kid, key_field)
 
         raise ::JWT::DecodeError, 'No keys found in jwks' unless @jwks.any?
         raise ::JWT::DecodeError, "Could not find public key for kid #{kid}" unless jwk
@@ -37,22 +41,31 @@ def key_for(kid)
       # Returns the key for the given token
       # @param [JWT::EncodedToken] token the token
       def call(token)
-        key_for(token.header['kid'])
+        @key_fields.each do |key_field|
+          field_value = token.header[key_field.to_s]
+
+          return key_for(field_value, key_field) if field_value
+        end
+
+        raise ::JWT::DecodeError, 'No key id (kid) or x5t found from token headers' unless @allow_nil_kid
+
+        kid = token.header['kid']
+        key_for(kid)
       end
 
       private
 
-      def resolve_key(kid)
-        key_matcher = ->(key) { (kid.nil? && @allow_nil_kid) || key[:kid] == kid }
+      def resolve_key(kid, key_field)
+        key_matcher = ->(key) { (kid.nil? && @allow_nil_kid) || key[key_field] == kid }
 
         # First try without invalidation to facilitate application caching
-        @jwks ||= JWT::JWK::Set.new(@jwks_loader.call(kid: kid))
+        @jwks ||= JWT::JWK::Set.new(@jwks_loader.call(key_field => kid))
         jwk = @jwks.find { |key| key_matcher.call(key) }
 
         return jwk if jwk
 
         # Second try, invalidate for backwards compatibility
-        @jwks = JWT::JWK::Set.new(@jwks_loader.call(invalidate: true, kid_not_found: true, kid: kid))
+        @jwks = JWT::JWK::Set.new(@jwks_loader.call(invalidate: true, kid_not_found: true, key_field => kid))
         @jwks.find { |key| key_matcher.call(key) }
       end
     end
diff --git a/lib/jwt/jwk/rsa.rb b/lib/jwt/jwk/rsa.rb
index 8bf5e2fa..c4918602 100644
--- a/lib/jwt/jwk/rsa.rb
+++ b/lib/jwt/jwk/rsa.rb
@@ -51,6 +51,7 @@ def verify_key
       def export(options = {})
         exported = parameters.clone
         exported.reject! { |k, _| RSA_PRIVATE_KEY_ELEMENTS.include? k } unless private? && options[:include_private] == true
+
         exported
       end
 
diff --git a/spec/jwt/jwk/decode_with_jwk_spec.rb b/spec/jwt/jwk/decode_with_jwk_spec.rb
index dfbde197..9e657d57 100644
--- a/spec/jwt/jwk/decode_with_jwk_spec.rb
+++ b/spec/jwt/jwk/decode_with_jwk_spec.rb
@@ -4,7 +4,8 @@
   describe '.decode for JWK usecase' do
     let(:keypair)       { test_pkey('rsa-2048-private.pem') }
     let(:jwk)           { JWT::JWK.new(keypair) }
-    let(:public_jwks) { { keys: [jwk.export, { kid: 'not_the_correct_one', kty: 'oct', k: 'secret' }] } }
+    let(:valid_key)     { jwk.export }
+    let(:public_jwks) { { keys: [valid_key, { kid: 'not_the_correct_one', kty: 'oct', k: 'secret' }] } }
     let(:token_payload) { { 'data' => 'something' } }
     let(:token_headers) { { kid: jwk.kid } }
     let(:algorithm)     { 'RS512' }
@@ -38,6 +39,26 @@
         end
       end
 
+      context 'and x5t is in the set' do
+        let(:x5t) { Base64.urlsafe_encode64(OpenSSL::Digest::SHA1.new(keypair.to_der).digest, padding: false) }
+        let(:valid_key) { jwk.export.merge({ x5t: x5t }) }
+        let(:token_headers) { { x5t: x5t } }
+        it 'is able to decode the token' do
+          payload, _header = described_class.decode(signed_token, nil, true, { algorithms: [algorithm], jwks: public_jwks, key_fields: [:x5t] })
+          expect(payload).to eq(token_payload)
+        end
+      end
+
+      context 'and both kid and x5t is in the set' do
+        let(:x5t) { Base64.urlsafe_encode64(OpenSSL::Digest::SHA1.new(keypair.to_der).digest, padding: false) }
+        let(:valid_key) { jwk.export.merge({ x5t: x5t }) }
+        let(:token_headers) { { x5t: x5t, kid: 'NOT_A_MATCH' } }
+        it 'is able to decode the token based on the priority of the key defined in key_fields' do
+          payload, _header = described_class.decode(signed_token, nil, true, { algorithms: [algorithm], jwks: public_jwks, key_fields: %i[x5t kid] })
+          expect(payload).to eq(token_payload)
+        end
+      end
+
       context 'no keys are found in the set' do
         let(:public_jwks) { { keys: [] } }
         it 'raises an exception' do
@@ -51,7 +72,7 @@
         let(:token_headers) { {} }
         it 'raises an exception' do
           expect { described_class.decode(signed_token, nil, true, { algorithms: [algorithm], jwks: public_jwks }) }.to raise_error(
-            JWT::DecodeError, 'No key id (kid) found from token headers'
+            JWT::DecodeError, 'No key id (kid) or x5t found from token headers'
           )
         end
       end