diff --git a/litestar/utils/signature.py b/litestar/utils/signature.py
index eb585990e0..c387b7f93b 100644
--- a/litestar/utils/signature.py
+++ b/litestar/utils/signature.py
@@ -14,7 +14,7 @@
 from litestar.exceptions import ImproperlyConfiguredException
 from litestar.types import Empty
 from litestar.typing import FieldDefinition
-from litestar.utils.typing import unwrap_annotation
+from litestar.utils.typing import expand_type_var_in_type_hint, unwrap_annotation
 
 if TYPE_CHECKING:
     from typing import Sequence
@@ -212,8 +212,9 @@ def from_fn(cls, fn: AnyCallable, signature_namespace: dict[str, Any]) -> Self:
         """
         signature = Signature.from_callable(fn)
         fn_type_hints = get_fn_type_hints(fn, namespace=signature_namespace)
+        expanded_type_hints = expand_type_var_in_type_hint(fn_type_hints, signature_namespace)
 
-        return cls.from_signature(signature, fn_type_hints)
+        return cls.from_signature(signature, expanded_type_hints)
 
     @classmethod
     def from_signature(cls, signature: Signature, fn_type_hints: dict[str, type]) -> Self:
diff --git a/litestar/utils/typing.py b/litestar/utils/typing.py
index 9da6c2a6f6..cae445a90e 100644
--- a/litestar/utils/typing.py
+++ b/litestar/utils/typing.py
@@ -262,6 +262,21 @@ def get_type_hints_with_generics_resolved(
     return {n: _substitute_typevars(type_, typevar_map) for n, type_ in type_hints.items()}
 
 
+def expand_type_var_in_type_hint(type_hint: dict[str, Any], namespace: dict[str, Any] | None) -> dict[str, Any]:
+    """Expand TypeVar for any parameters in type_hint
+
+    Args:
+        type_hint: mapping of parameter to type obtained from calling `get_type_hints` or `get_fn_type_hints`
+        namespace: mapping of TypeVar to concrete type
+
+    Returns:
+        type_hint with any TypeVar parameter expanded
+    """
+    if namespace:
+        return {name: _substitute_typevars(hint, namespace) for name, hint in type_hint.items()}
+    return type_hint
+
+
 def _substitute_typevars(obj: Any, typevar_map: Mapping[Any, Any]) -> Any:
     if params := getattr(obj, "__parameters__", None):
         args = tuple(_substitute_typevars(typevar_map.get(p, p), typevar_map) for p in params)
diff --git a/tests/unit/test_utils/test_signature.py b/tests/unit/test_utils/test_signature.py
index 1f9767b8c2..8f0de7c38d 100644
--- a/tests/unit/test_utils/test_signature.py
+++ b/tests/unit/test_utils/test_signature.py
@@ -5,11 +5,12 @@
 import inspect
 from inspect import Parameter
 from types import ModuleType
-from typing import Any, Callable, List, Optional, TypeVar, Union
+from typing import Any, Callable, Generic, List, Optional, TypeVar, Union
 
 import pytest
 from typing_extensions import Annotated, NotRequired, Required, TypedDict, get_args, get_type_hints
 
+from litestar import Controller, Router, post
 from litestar.exceptions import ImproperlyConfiguredException
 from litestar.file_system import BaseLocalFileSystem
 from litestar.static_files import StaticFiles
@@ -20,6 +21,10 @@
 from litestar.utils.signature import ParsedSignature, add_types_to_signature_namespace, get_fn_type_hints
 
 T = TypeVar("T")
+U = TypeVar("U")
+
+
+class ConcreteT: ...
 
 
 def test_get_fn_type_hints_asgi_app() -> None:
@@ -161,3 +166,58 @@ def test_add_types_to_signature_namespace_with_existing_types_raises() -> None:
     """Test add_types_to_signature_namespace with existing types raises."""
     with pytest.raises(ImproperlyConfiguredException):
         add_types_to_signature_namespace([int], {"int": int})
+
+
+@pytest.mark.parametrize(
+    ("namespace", "expected"),
+    (
+        ({T: int}, {"data": int, "return": int}),
+        ({}, {"data": T, "return": T}),
+        ({T: ConcreteT}, {"data": ConcreteT, "return": ConcreteT}),
+    ),
+)
+def test_using_generics_in_fn_annotations(namespace: dict[str, Any], expected: dict[str, Any]) -> None:
+    @post(signature_namespace=namespace)
+    def create_item(data: T) -> T:
+        return data
+
+    signature = create_item.parsed_fn_signature
+    actual = {"data": signature.parameters["data"].annotation, "return": signature.return_type.annotation}
+    assert actual == expected
+
+
+class GenericController(Controller, Generic[T]):
+    model_class: T
+
+    def __class_getitem__(cls, model_class: type) -> type:
+        cls_dict = {"model_class": model_class}
+        return type(f"GenericController[{model_class.__name__}", (cls,), cls_dict)
+
+    def __init__(self, owner: Router) -> None:
+        super().__init__(owner)
+        self.signature_namespace[T] = self.model_class  # type: ignore[misc]
+
+
+class BaseController(GenericController[T]):
+    @post()
+    async def create(self, data: T) -> T:
+        return data
+
+
+@pytest.mark.parametrize(
+    ("annotation_type", "expected"),
+    (
+        (int, {"data": int, "return": int}),
+        (float, {"data": float, "return": float}),
+        (ConcreteT, {"data": ConcreteT, "return": ConcreteT}),
+    ),
+)
+def test_using_generics_in_controller_annotations(annotation_type: type, expected: dict[str, Any]) -> None:
+    class ConcreteController(BaseController[annotation_type]):  # type: ignore[valid-type]
+        path = "/"
+
+    controller_object = ConcreteController(owner=None)  # type: ignore[arg-type]
+
+    signature = controller_object.get_route_handlers()[0].parsed_fn_signature
+    actual = {"data": signature.parameters["data"].annotation, "return": signature.return_type.annotation}
+    assert actual == expected
diff --git a/tests/unit/test_utils/test_typing.py b/tests/unit/test_utils/test_typing.py
index 38f4a44174..5b9fd95b3f 100644
--- a/tests/unit/test_utils/test_typing.py
+++ b/tests/unit/test_utils/test_typing.py
@@ -9,6 +9,7 @@
 from typing_extensions import Annotated
 
 from litestar.utils.typing import (
+    expand_type_var_in_type_hint,
     get_origin_or_inner_type,
     get_type_hints_with_generics_resolved,
     make_non_optional_union,
@@ -134,3 +135,27 @@ class NestedFoo(Generic[T]):
 )
 def test_get_type_hints_with_generics(annotation: Any, expected_type_hints: dict[str, Any]) -> None:
     assert get_type_hints_with_generics_resolved(annotation, include_extras=True) == expected_type_hints
+
+
+class ConcreteT: ...
+
+
+@pytest.mark.parametrize(
+    ("type_hint", "namespace", "expected"),
+    (
+        ({"arg1": T, "return": int}, {}, {"arg1": T, "return": int}),
+        ({"arg1": T, "return": int}, None, {"arg1": T, "return": int}),
+        ({"arg1": T, "return": int}, {U: ConcreteT}, {"arg1": T, "return": int}),
+        ({"arg1": T, "return": int}, {T: ConcreteT}, {"arg1": ConcreteT, "return": int}),
+        ({"arg1": T, "return": int}, {T: int}, {"arg1": int, "return": int}),
+        ({"arg1": int, "return": int}, {}, {"arg1": int, "return": int}),
+        ({"arg1": int, "return": int}, None, {"arg1": int, "return": int}),
+        ({"arg1": int, "return": int}, {T: int}, {"arg1": int, "return": int}),
+        ({"arg1": T, "return": T}, {T: ConcreteT}, {"arg1": ConcreteT, "return": ConcreteT}),
+        ({"arg1": T, "return": T}, {T: int}, {"arg1": int, "return": int}),
+    ),
+)
+def test_expand_type_var_in_type_hints(
+    type_hint: dict[str, Any], namespace: dict[str, Any] | None, expected: dict[str, Any]
+) -> None:
+    assert expand_type_var_in_type_hint(type_hint, namespace) == expected