diff --git a/packages/aws-cdk-lib/aws-stepfunctions-tasks/lib/lambda/call-aws-service-cross-region.ts b/packages/aws-cdk-lib/aws-stepfunctions-tasks/lib/lambda/call-aws-service-cross-region.ts
index 2622c61e6a29b..1d33349210338 100644
--- a/packages/aws-cdk-lib/aws-stepfunctions-tasks/lib/lambda/call-aws-service-cross-region.ts
+++ b/packages/aws-cdk-lib/aws-stepfunctions-tasks/lib/lambda/call-aws-service-cross-region.ts
@@ -11,7 +11,7 @@ import { CrossRegionAwsSdkSingletonFunction } from '../../../custom-resource-han
  */
 export interface CallAwsServiceCrossRegionProps extends sfn.TaskStateBaseProps {
   /**
-   * The AWS service to call in AWS SDK for JavaScript v3 style.
+   * The AWS service to call in AWS SDK for JavaScript v3 format.
    *
    * @see https://docs.aws.amazon.com/AWSJavaScriptSDK/v3/latest/
    * @example 's3'
@@ -26,9 +26,7 @@ export interface CallAwsServiceCrossRegionProps extends sfn.TaskStateBaseProps {
   readonly action: string;
 
   /**
-   * Parameters for the API action call.
-   *
-   * Use PascalCase for the parameter names.
+   * Parameters for the API action call in AWS SDK for JavaScript v3 format.
    *
    * @default - no parameters
    */
@@ -112,12 +110,6 @@ export class CallAwsServiceCrossRegion extends sfn.TaskStateBase {
     if (!Token.isUnresolved(props.action) && !props.action.startsWith(props.action[0]?.toLowerCase())) {
       throw new Error(`action must be camelCase, got: ${props.action}`);
     }
-    if (props.parameters) {
-      const invalidKeys = Object.keys(props.parameters).filter((key) => !key.startsWith(key[0]?.toUpperCase()));
-      if (invalidKeys.length) {
-        throw new Error(`parameter names must be PascalCase, got: ${invalidKeys.join(', ')}`);
-      }
-    }
 
     // props.service expects a service name in the AWS SDK for JavaScript v3 format.
     // In some services, this format differs from the one used in IAM.
diff --git a/packages/aws-cdk-lib/aws-stepfunctions-tasks/test/lambda/call-aws-service-cross-region.test.ts b/packages/aws-cdk-lib/aws-stepfunctions-tasks/test/lambda/call-aws-service-cross-region.test.ts
index d42050b34dd0a..458a9229444aa 100644
--- a/packages/aws-cdk-lib/aws-stepfunctions-tasks/test/lambda/call-aws-service-cross-region.test.ts
+++ b/packages/aws-cdk-lib/aws-stepfunctions-tasks/test/lambda/call-aws-service-cross-region.test.ts
@@ -162,6 +162,40 @@ test('with custom IAM action', () => {
   });
 });
 
+test('parameters with camelCase', () => {
+  // WHEN
+  const task = new tasks.CallAwsServiceCrossRegion(stack, 'GetRestApi', {
+    service: 'api-gateway',
+    action: 'getRestApi',
+    parameters: {
+      restApiId: 'id',
+    },
+    region: 'us-east-1',
+    iamResources: ['*'],
+    retryOnServiceExceptions: false,
+  });
+
+  // THEN
+  expect(stack.resolve(task.toStateJson())).toEqual({
+    Type: 'Task',
+    Resource: {
+      'Fn::GetAtt': [
+        'CrossRegionAwsSdk8a0c93f3dbef4b71ac137aaf2048ce7eF7430F4F',
+        'Arn',
+      ],
+    },
+    End: true,
+    Parameters: {
+      action: 'getRestApi',
+      region: 'us-east-1',
+      service: 'api-gateway',
+      parameters: {
+        restApiId: 'id',
+      },
+    },
+  });
+});
+
 test('throws with invalid integration pattern', () => {
   expect(() => new tasks.CallAwsServiceCrossRegion(stack, 'GetObject', {
     integrationPattern: sfn.IntegrationPattern.RUN_JOB,
@@ -189,19 +223,6 @@ test('throws if action is not camelCase', () => {
   })).toThrow(/action must be camelCase, got: GetObject/);
 });
 
-test('throws if parameters has keys as not PascalCase', () => {
-  expect(() => new tasks.CallAwsServiceCrossRegion(stack, 'GetObject', {
-    service: 's3',
-    action: 'getObject',
-    parameters: {
-      bucket: 'my-bucket',
-      key: sfn.JsonPath.stringAt('$.key'),
-    },
-    region: 'us-east-1',
-    iamResources: ['*'],
-  })).toThrow(/parameter names must be PascalCase, got: bucket, key/);
-});
-
 test('can pass additional IAM statements', () => {
   // WHEN
   const task = new tasks.CallAwsServiceCrossRegion(stack, 'DetectLabels', {