diff --git a/src/query.ts b/src/query.ts
index 51925ff8..4f202c50 100644
--- a/src/query.ts
+++ b/src/query.ts
@@ -70,5 +70,6 @@ export function stringifyQuery(query: QueryObject) {
   return Object.keys(query)
     .filter((k) => query[k] !== undefined)
     .map((k) => encodeQueryItem(k, query[k]))
+    .filter(Boolean)
     .join("&");
 }
diff --git a/test/query.test.ts b/test/query.test.ts
index e7d446d4..55cdc833 100644
--- a/test/query.test.ts
+++ b/test/query.test.ts
@@ -59,6 +59,11 @@ describe("withQuery", () => {
       query: { param: { a: [{ obj: [1, 2, 3] }] } },
       out: "/?param=%7B%22a%22:%5B%7B%22obj%22:%5B1,2,3%5D%7D%5D%7D", // {"a":[{"obj":[1,2,3]}]}
     },
+    {
+      input: "/",
+      query: { 'a': 'X', 'b[]': [], c: "Y" },
+      out: "/?a=X&c=Y",
+    },
   ];
 
   for (const t of tests) {