diff --git a/CHANGELOG.md b/CHANGELOG.md
index 997e74f8..545259e3 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -6,6 +6,14 @@ and this project adheres to
 
 ## [Unreleased]
 
+### Fixed
+
+- @cosmjs/amino: Fix escaping of "&", "<" and ">" characters in Amino JSON
+  encoding to match the Go implementation ([#1373], [#1388]).
+
+[#1373]: https://github.com/cosmos/cosmjs/pull/1373
+[#1388]: https://github.com/cosmos/cosmjs/pull/1388
+
 ## [0.30.0] - 2023-03-09
 
 ### Changed
diff --git a/packages/amino/src/signdoc.spec.ts b/packages/amino/src/signdoc.spec.ts
index 121b3587..e4c1261c 100644
--- a/packages/amino/src/signdoc.spec.ts
+++ b/packages/amino/src/signdoc.spec.ts
@@ -2,7 +2,7 @@
 import { Random } from "@cosmjs/crypto";
 import { toBech32 } 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 +132,43 @@ describe("encoding", () => {
       });
     });
   });
+
+  describe("escapeCharacters", () => {
+    it("works", () => {
+      // Unchanged originals
+      expect(escapeCharacters(`""`)).toEqual(`""`);
+      expect(escapeCharacters(`{}`)).toEqual(`{}`);
+      expect(escapeCharacters(`[]`)).toEqual(`[]`);
+      expect(escapeCharacters(`[123,null,"foo",[{}]]`)).toEqual(`[123,null,"foo",[{}]]`);
+      expect(escapeCharacters(`{"num":123}`)).toEqual(`{"num":123}`);
+      expect(escapeCharacters(`{"memo":"123"}`)).toEqual(`{"memo":"123"}`);
+      expect(escapeCharacters(`{"memo":"\\u0026"}`)).toEqual(`{"memo":"\\u0026"}`);
+
+      // Escapes one
+      expect(escapeCharacters(`{"m":"with amp: &"}`)).toEqual(`{"m":"with amp: \\u0026"}`);
+      expect(escapeCharacters(`{"m":"with lt: <"}`)).toEqual(`{"m":"with lt: \\u003c"}`);
+      expect(escapeCharacters(`{"m":"with gt: >"}`)).toEqual(`{"m":"with gt: \\u003e"}`);
+      // Escapes multiple
+      expect(escapeCharacters(`{"m":"with amp: &&"}`)).toEqual(`{"m":"with amp: \\u0026\\u0026"}`);
+      expect(escapeCharacters(`{"m":"with lt: <<"}`)).toEqual(`{"m":"with lt: \\u003c\\u003c"}`);
+      expect(escapeCharacters(`{"m":"with gt: >>"}`)).toEqual(`{"m":"with gt: \\u003e\\u003e"}`);
+      expect(escapeCharacters(`{"m":"with all: &<>"}`)).toEqual(`{"m":"with all: \\u0026\\u003c\\u003e"}`);
+    });
+
+    it("escaped encoding can be decoded to the same document", () => {
+      const docs = [
+        { memo: "ampersand:&,lt:<,gt:>", value: 123.421 },
+        "",
+        123,
+        ["foo", "ampersand:&,lt:<,gt:>"],
+      ];
+
+      for (const doc of docs) {
+        const normalEncoding = JSON.stringify(doc);
+        const escapedEncoding = escapeCharacters(normalEncoding);
+        expect(JSON.parse(escapedEncoding)).toEqual(JSON.parse(normalEncoding));
+        expect(JSON.parse(escapedEncoding)).toEqual(doc);
+      }
+    });
+  });
 });
diff --git a/packages/amino/src/signdoc.ts b/packages/amino/src/signdoc.ts
index 2348353e..3a6f56c1 100644
--- a/packages/amino/src/signdoc.ts
+++ b/packages/amino/src/signdoc.ts
@@ -72,6 +72,28 @@ export function makeSignDoc(
   };
 }
 
-export function serializeSignDoc(signDoc: StdSignDoc): Uint8Array {
-  return toUtf8(sortedJsonStringify(signDoc));
+/**
+ * Takes a valid JSON document and performs the following escapings in string values:
+ *
+ * `&` -> `\u0026`
+ * `<` -> `\u003c`
+ * `>` -> `\u003e`
+ *
+ * Since those characters do not occur in other places of the JSON document, only
+ * string values are affected.
+ *
+ * If the input is invalid JSON, the behaviour is undefined.
+ */
+export function escapeCharacters(input: string): string {
+  // When we migrate to target es2021 or above, we can use replaceAll instead of global patterns.
+  // https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/String/replaceAll
+  const amp = /&/g;
+  const lt = /</g;
+  const gt = />/g;
+  return input.replace(amp, "\\u0026").replace(lt, "\\u003c").replace(gt, "\\u003e");
+}
+
+export function serializeSignDoc(signDoc: StdSignDoc): Uint8Array {
+  const serialized = escapeCharacters(sortedJsonStringify(signDoc));
+  return toUtf8(serialized);
 }
diff --git a/packages/stargate/src/signingstargateclient.spec.ts b/packages/stargate/src/signingstargateclient.spec.ts
index e0a58e2b..3f15b5c9 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);