diff --git a/RELEASENOTES.md b/RELEASENOTES.md
index 3ebdc01762..519541359b 100644
--- a/RELEASENOTES.md
+++ b/RELEASENOTES.md
@@ -23,6 +23,8 @@
   ([#6036](https://github.com/google/ExoPlayer/pull/6036)).
 * Gracefully handle revoked `ACCESS_NETWORK_STATE` permission
   ([#6019](https://github.com/google/ExoPlayer/issues/6019)).
+* Fix application of `maxAudioBitrate` for adaptive audio track groups
+  ([#6006](https://github.com/google/ExoPlayer/issues/6006)).
 
 ### 2.10.2 ###
 
diff --git a/library/core/src/main/java/com/google/android/exoplayer2/trackselection/DefaultTrackSelector.java b/library/core/src/main/java/com/google/android/exoplayer2/trackselection/DefaultTrackSelector.java
index 3200e40495..949bd178ea 100644
--- a/library/core/src/main/java/com/google/android/exoplayer2/trackselection/DefaultTrackSelector.java
+++ b/library/core/src/main/java/com/google/android/exoplayer2/trackselection/DefaultTrackSelector.java
@@ -1934,6 +1934,7 @@ public class DefaultTrackSelector extends MappingTrackSelector {
           getAdaptiveAudioTracks(
               selectedGroup,
               formatSupports[selectedGroupIndex],
+              params.maxAudioBitrate,
               params.allowAudioMixedMimeTypeAdaptiveness,
               params.allowAudioMixedSampleRateAdaptiveness);
       if (adaptiveTracks.length > 0) {
@@ -1951,6 +1952,7 @@ public class DefaultTrackSelector extends MappingTrackSelector {
   private static int[] getAdaptiveAudioTracks(
       TrackGroup group,
       int[] formatSupport,
+      int maxAudioBitrate,
       boolean allowMixedMimeTypeAdaptiveness,
       boolean allowMixedSampleRateAdaptiveness) {
     int selectedConfigurationTrackCount = 0;
@@ -1967,6 +1969,7 @@ public class DefaultTrackSelector extends MappingTrackSelector {
                 group,
                 formatSupport,
                 configuration,
+                maxAudioBitrate,
                 allowMixedMimeTypeAdaptiveness,
                 allowMixedSampleRateAdaptiveness);
         if (configurationCount > selectedConfigurationTrackCount) {
@@ -1977,13 +1980,16 @@ public class DefaultTrackSelector extends MappingTrackSelector {
     }
 
     if (selectedConfigurationTrackCount > 1) {
+      Assertions.checkNotNull(selectedConfiguration);
       int[] adaptiveIndices = new int[selectedConfigurationTrackCount];
       int index = 0;
       for (int i = 0; i < group.length; i++) {
+        Format format = group.getFormat(i);
         if (isSupportedAdaptiveAudioTrack(
-            group.getFormat(i),
+            format,
             formatSupport[i],
-            Assertions.checkNotNull(selectedConfiguration),
+            selectedConfiguration,
+            maxAudioBitrate,
             allowMixedMimeTypeAdaptiveness,
             allowMixedSampleRateAdaptiveness)) {
           adaptiveIndices[index++] = i;
@@ -1998,6 +2004,7 @@ public class DefaultTrackSelector extends MappingTrackSelector {
       TrackGroup group,
       int[] formatSupport,
       AudioConfigurationTuple configuration,
+      int maxAudioBitrate,
       boolean allowMixedMimeTypeAdaptiveness,
       boolean allowMixedSampleRateAdaptiveness) {
     int count = 0;
@@ -2006,6 +2013,7 @@ public class DefaultTrackSelector extends MappingTrackSelector {
           group.getFormat(i),
           formatSupport[i],
           configuration,
+          maxAudioBitrate,
           allowMixedMimeTypeAdaptiveness,
           allowMixedSampleRateAdaptiveness)) {
         count++;
@@ -2018,9 +2026,11 @@ public class DefaultTrackSelector extends MappingTrackSelector {
       Format format,
       int formatSupport,
       AudioConfigurationTuple configuration,
+      int maxAudioBitrate,
       boolean allowMixedMimeTypeAdaptiveness,
       boolean allowMixedSampleRateAdaptiveness) {
     return isSupported(formatSupport, false)
+        && (format.bitrate == Format.NO_VALUE || format.bitrate <= maxAudioBitrate)
         && (format.channelCount != Format.NO_VALUE
             && format.channelCount == configuration.channelCount)
         && (allowMixedMimeTypeAdaptiveness
diff --git a/library/core/src/test/java/com/google/android/exoplayer2/trackselection/DefaultTrackSelectorTest.java b/library/core/src/test/java/com/google/android/exoplayer2/trackselection/DefaultTrackSelectorTest.java
index c68ccff38d..2d57b6a252 100644
--- a/library/core/src/test/java/com/google/android/exoplayer2/trackselection/DefaultTrackSelectorTest.java
+++ b/library/core/src/test/java/com/google/android/exoplayer2/trackselection/DefaultTrackSelectorTest.java
@@ -341,6 +341,76 @@ public final class DefaultTrackSelectorTest {
     assertFixedSelection(result.selections.get(0), trackGroups, formatWithSelectionFlag);
   }
 
+  /** Tests that adaptive audio track selections respect the maximum audio bitrate. */
+  public void testSelectAdaptiveAudioTrackGroupWithMaxBitrate() throws ExoPlaybackException {
+    Format format128k =
+        Format.createAudioSampleFormat(
+            /* id= */ "128",
+            /* sampleMimeType= */ MimeTypes.AUDIO_AAC,
+            /* codecs= */ "mp4a.40.2",
+            /* bitrate= */ 128 * 1024,
+            /* maxInputSize= */ Format.NO_VALUE,
+            /* channelCount= */ 2,
+            /* sampleRate= */ 44100,
+            /* initializationData= */ null,
+            /* drmInitData= */ null,
+            /* selectionFlags= */ 0,
+            /* language= */ null);
+    Format format192k =
+        Format.createAudioSampleFormat(
+            /* id= */ "192",
+            /* sampleMimeType= */ MimeTypes.AUDIO_AAC,
+            /* codecs= */ "mp4a.40.2",
+            /* bitrate= */ 192 * 1024,
+            /* maxInputSize= */ Format.NO_VALUE,
+            /* channelCount= */ 2,
+            /* sampleRate= */ 44100,
+            /* initializationData= */ null,
+            /* drmInitData= */ null,
+            /* selectionFlags= */ 0,
+            /* language= */ null);
+    Format format256k =
+        Format.createAudioSampleFormat(
+            /* id= */ "256",
+            /* sampleMimeType= */ MimeTypes.AUDIO_AAC,
+            /* codecs= */ "mp4a.40.2",
+            /* bitrate= */ 256 * 1024,
+            /* maxInputSize= */ Format.NO_VALUE,
+            /* channelCount= */ 2,
+            /* sampleRate= */ 44100,
+            /* initializationData= */ null,
+            /* drmInitData= */ null,
+            /* selectionFlags= */ 0,
+            /* language= */ null);
+    RendererCapabilities[] rendererCapabilities = {
+      ALL_AUDIO_FORMAT_SUPPORTED_RENDERER_CAPABILITIES
+    };
+    TrackGroupArray trackGroups =
+        new TrackGroupArray(new TrackGroup(format192k, format128k, format256k));
+
+    TrackSelectorResult result =
+        trackSelector.selectTracks(rendererCapabilities, trackGroups, periodId, TIMELINE);
+    assertAdaptiveSelection(result.selections.get(0), trackGroups.get(0), 0, 1, 2);
+
+    trackSelector.setParameters(
+        trackSelector.buildUponParameters().setMaxAudioBitrate(256 * 1024 - 1));
+    result = trackSelector.selectTracks(rendererCapabilities, trackGroups, periodId, TIMELINE);
+    assertAdaptiveSelection(result.selections.get(0), trackGroups.get(0), 0, 1);
+
+    trackSelector.setParameters(trackSelector.buildUponParameters().setMaxAudioBitrate(192 * 1024));
+    result = trackSelector.selectTracks(rendererCapabilities, trackGroups, periodId, TIMELINE);
+    assertAdaptiveSelection(result.selections.get(0), trackGroups.get(0), 0, 1);
+
+    trackSelector.setParameters(
+        trackSelector.buildUponParameters().setMaxAudioBitrate(192 * 1024 - 1));
+    result = trackSelector.selectTracks(rendererCapabilities, trackGroups, periodId, TIMELINE);
+    assertAdaptiveSelection(result.selections.get(0), trackGroups.get(0), 1);
+
+    trackSelector.setParameters(trackSelector.buildUponParameters().setMaxAudioBitrate(10));
+    result = trackSelector.selectTracks(rendererCapabilities, trackGroups, periodId, TIMELINE);
+    assertAdaptiveSelection(result.selections.get(0), trackGroups.get(0), 1);
+  }
+
   /**
    * Tests that track selector will select audio track with language that match preferred language
    * given by {@link Parameters}.