diff --git a/lib/route-recognizer.ts b/lib/route-recognizer.ts
index 0e6b1bf..13c53af 100644
--- a/lib/route-recognizer.ts
+++ b/lib/route-recognizer.ts
@@ -430,7 +430,7 @@ function recognizeChar<THandler>(
 }
 
 export interface QueryParams {
-  [param: string]: string[] | string | null | undefined;
+  [param: string]: Record<string, any> | string[] | string | null | undefined;
 }
 
 export interface Result<THandler> {
@@ -688,32 +688,47 @@ class RouteRecognizer<THandler = string> {
   }
 
   generateQueryString(params: Params): string {
-    const pairs: string[] = [];
-    const keys: string[] = Object.keys(params);
-    keys.sort();
-    for (let i = 0; i < keys.length; i++) {
-      const key = keys[i];
-      const value = params[key];
-      if (value == null) {
-        continue;
+    const reducer = (obj: Params, parentPrefix: string | null = null) => (prev: string[], key: string) => {
+      const val = obj[key];
+      if (val === null || val === undefined) {
+        return prev;
       }
-      let pair = encodeURIComponent(key);
-      if (isArray(value)) {
-        for (let j = 0; j < value.length; j++) {
-          const arrayPair = key + "[]" + "=" + encodeURIComponent(value[j]);
-          pairs.push(arrayPair);
-        }
-      } else {
-        pair += "=" + encodeURIComponent(value as string);
-        pairs.push(pair);
+
+      const prefix = parentPrefix ? `${parentPrefix}[${key}]` : key;
+  
+      if (val == null || typeof val === 'function') {
+        prev.push(`${prefix}=`);
+        return prev;
       }
-    }
+  
+      if (isArray(val)) {
+        for (let j = 0; j < val.length; j++) {
+          // handle array query params. array format brackets. (Other options are indices a[0]=b&a[1]=c or repeat a=b&a=c)
+          if (['string', 'number', 'boolean'].includes(typeof val[j])) {
+            const arrayPair = key + "[]" + "=" + encodeURIComponent(val[j]);
+            prev.push(arrayPair);
+          } else {
+            prev.push(Object.keys(val[j] as Params).sort().reduce(reducer(val[j] as Params, prefix + `[${j}]`), []).join('&'));
+          }
+        }
 
-    if (pairs.length === 0) {
-      return "";
+        return prev;
+      } else if (['string', 'number', 'boolean'].includes(typeof val)) {
+        prev.push(`${prefix}=${encodeURIComponent(val as string)}`);
+        return prev;
+      }
+  
+      prev.push(Object.keys(val as Params).sort().reduce(reducer(val as Params, parentPrefix ? prefix : `${prefix}=`), []).join('&'));
+      return prev;
+    };
+  
+    const sortedKeys = Object.keys(params).sort();
+    // avoid appending unnecessary '?'
+    if (!sortedKeys.length || sortedKeys.every((k) => params[k] === undefined || params[k] === null)) {
+      return '';
     }
 
-    return "?" + pairs.join("&");
+    return '?' + sortedKeys.reduce(reducer(params), []).join('&');
   }
 
   parseQueryString(queryString: string): QueryParams {
diff --git a/tests/recognizer-tests.ts b/tests/recognizer-tests.ts
index 1490c61..cf748c8 100644
--- a/tests/recognizer-tests.ts
+++ b/tests/recognizer-tests.ts
@@ -817,6 +817,23 @@ QUnit.test(
   }
 );
 
+QUnit.test("Deserialize query param nested object", (assert: Assert) => {
+  const handler = {};
+  const router = new RouteRecognizer<{}>();
+  router.add([{ path: "/foo/bar", handler }]);
+
+  const results = queryParams(router.recognize("/foo/bar?filter=[user][name][$contains]=nick"));
+  assert.deepEqual(results, { 
+    filter: { 
+      user: { 
+        name: { 
+          $contains: 'nick' 
+        } 
+      } 
+    } 
+  });
+});
+
 QUnit.test("Multiple `/` routes recognize", (assert: Assert) => {
   const handler1 = { handler: 1 };
   const handler2 = { handler: 2 };
@@ -1629,7 +1646,7 @@ QUnit.module("Route Generation", hooks => {
   QUnit.test(
     "Parsing and generation results into the same input string",
     (assert: Assert) => {
-      const query = "filter%20data=date";
+      const query = "filter data=date";
       assert.equal(
         router.generateQueryString(router.parseQueryString(query)),
         "?" + query
@@ -1721,6 +1738,18 @@ QUnit.module("Route Generation", hooks => {
       router.generate("index", { queryParams: { filter: "date", sort: 0 } }),
       "/?filter=date&sort=0"
     );
+    assert.equal(
+      router.generate("index", { queryParams: { filter: { age: 10, user: { name: { $contains: 'scoot' } } }, sort: 0 } }),
+      "/?filter=[age]=10&filter=[user][name][$contains]=scoot&sort=0"
+    );
+    assert.equal(
+      router.generate("index", { queryParams: { sort: 0, filter: { age: 0, user: { name: { $contains: 'scoot' } } } } }),
+      "/?filter=[age]=0&filter=[user][name][$contains]=scoot&sort=0"
+    );
+    assert.equal(
+      router.generate("index", { queryParams: { sort: 0, filter: { name: 'bike', children: [{ name: { $contains: 'scoot' } }, { name: { $contains: 'er' }}] } }, sort: 0 }),
+      "/?filter=[children][0][name][$contains]=scoot&filter=[children][1][name][$contains]=er&filter=[name]=bike&sort=0"
+    );
   });
 
   QUnit.test("Generation works with array query params", (assert: Assert) => {