diff --git a/packages/amino/src/signdoc.spec.ts b/packages/amino/src/signdoc.spec.ts
index 121b35879a..0ae5075d4b 100644
--- a/packages/amino/src/signdoc.spec.ts
+++ b/packages/amino/src/signdoc.spec.ts
@@ -1,8 +1,8 @@
 /* eslint-disable @typescript-eslint/naming-convention */
 import { Random } from "@cosmjs/crypto";
-import { toBech32 } from "@cosmjs/encoding";
+import { fromUtf8, toBech32, toUtf8 } from "@cosmjs/encoding";
 
-import { AminoMsg, makeSignDoc, sortedJsonStringify } from "./signdoc";
+import { AminoMsg, escapeCharacters, makeSignDoc, sortedJsonStringify } from "./signdoc";
 
 function makeRandomAddress(): string {
   return toBech32("cosmos", Random.getBytes(20));
@@ -132,4 +132,14 @@ describe("encoding", () => {
       });
     });
   });
+
+  describe("escape characters after utf8 encoding", () => {
+    it("works", () => {
+      const test = JSON.stringify({ memo: "ampersand:&,lt:<,gt:>" });
+      const utf8Encoding = toUtf8(test);
+      const escapedEncoding = escapeCharacters(utf8Encoding);
+
+      expect(JSON.parse(fromUtf8(utf8Encoding))).toEqual(JSON.parse(fromUtf8(escapedEncoding)));
+    });
+  });
 });
diff --git a/packages/amino/src/signdoc.ts b/packages/amino/src/signdoc.ts
index 2348353eb3..d441707640 100644
--- a/packages/amino/src/signdoc.ts
+++ b/packages/amino/src/signdoc.ts
@@ -72,6 +72,35 @@ export function makeSignDoc(
   };
 }
 
+export function escapeCharacters(encodedArray: Uint8Array): Uint8Array {
+  const AmpersandUnicode = new Uint8Array([92, 117, 48, 48, 50, 54]);
+  const LtSignUnicode = new Uint8Array([92, 117, 48, 48, 51, 99]);
+  const GtSignUnicode = new Uint8Array([92, 117, 48, 48, 51, 101]);
+
+  const AmpersandAscii = 38;
+  const LtSign = 60; // <
+  const GtSign = 62; // >
+
+  const filteredIndex: number[] = [];
+  encodedArray.forEach((value, index) => {
+    if (value === AmpersandAscii || value === LtSign || value === GtSign) filteredIndex.push(index);
+  });
+
+  let result = new Uint8Array([...encodedArray]);
+  const reversedFilteredIndex = filteredIndex.reverse();
+  reversedFilteredIndex.forEach((value) => {
+    let unicode = AmpersandUnicode;
+    if (result[value] === LtSign) {
+      unicode = LtSignUnicode;
+    } else if (result[value] === GtSign) {
+      unicode = GtSignUnicode;
+    }
+    result = new Uint8Array([...result.slice(0, value), ...unicode, ...result.slice(value + 1)]);
+  });
+
+  return result;
+}
+
 export function serializeSignDoc(signDoc: StdSignDoc): Uint8Array {
-  return toUtf8(sortedJsonStringify(signDoc));
+  return escapeCharacters(toUtf8(sortedJsonStringify(signDoc)));
 }
diff --git a/packages/stargate/src/signingstargateclient.spec.ts b/packages/stargate/src/signingstargateclient.spec.ts
index e0a58e2b8e..3f15b5c9b3 100644
--- a/packages/stargate/src/signingstargateclient.spec.ts
+++ b/packages/stargate/src/signingstargateclient.spec.ts
@@ -455,6 +455,33 @@ describe("SigningStargateClient", () => {
     });
 
     describe("legacy Amino mode", () => {
+      it("works with special characters in memo", async () => {
+        pendingWithoutSimapp();
+        const wallet = await Secp256k1HdWallet.fromMnemonic(faucet.mnemonic);
+        const client = await SigningStargateClient.connectWithSigner(
+          simapp.tendermintUrl,
+          wallet,
+          defaultSigningClientOptions,
+        );
+
+        const msgSend: MsgSend = {
+          fromAddress: faucet.address0,
+          toAddress: makeRandomAddress(),
+          amount: coins(1234, "ucosm"),
+        };
+        const msgAny: MsgSendEncodeObject = {
+          typeUrl: "/cosmos.bank.v1beta1.MsgSend",
+          value: msgSend,
+        };
+        const fee = {
+          amount: coins(2000, "ucosm"),
+          gas: "200000",
+        };
+        const memo = "ampersand:&,lt:<,gt:>";
+        const result = await client.signAndBroadcast(faucet.address0, [msgAny], fee, memo);
+        assertIsDeliverTxSuccess(result);
+      });
+
       it("works with bank MsgSend", async () => {
         pendingWithoutSimapp();
         const wallet = await Secp256k1HdWallet.fromMnemonic(faucet.mnemonic);