diff --git a/.github/workflows/build_and_test.yml b/.github/workflows/build_and_test.yml
index 176d002..afed84b 100644
--- a/.github/workflows/build_and_test.yml
+++ b/.github/workflows/build_and_test.yml
@@ -15,7 +15,8 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        python-version: ['3.8', '3.9', '3.10']
+        python-version: ['3.8', '3.9', '3.10', '3.11']
+        pydantic-version: ['>=1.0,<2.0', '>=2.0,<3.0']
 
     steps:
     - uses: actions/checkout@v3
@@ -27,6 +28,7 @@ jobs:
       run: |
         python -m pip install --upgrade pip
         pip install -r requirements.txt
+        pip install 'pydantic${{ matrix.pydantic-version }}'
     - name: Test with unittest
       run: |
         python -m unittest
diff --git a/requirements.txt b/requirements.txt
index 2399d93..b5fdd21 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,3 +1,4 @@
+annotated-types==0.5.0
 asn1crypto==1.4.0
 black==21.9b0
 cbor2==5.4.2.post1
@@ -5,17 +6,18 @@ cffi==1.15.0
 click==8.0.3
 cryptography==41.0.1
 mccabe==0.6.1
-mypy==0.910
-mypy-extensions==0.4.3
+mypy==1.4.1
+mypy-extensions==1.0.0
 pathspec==0.9.0
 platformdirs==2.4.0
 pycodestyle==2.8.0
 pycparser==2.20
-pydantic==1.10.11
+pydantic==2.1.1
+pydantic_core==2.4.0
 pyflakes==2.4.0
 pyOpenSSL==23.2.0
 regex==2021.10.8
 six==1.16.0
 toml==0.10.2
 tomli==1.2.1
-typing-extensions==4.2.0
+typing_extensions==4.7.1
diff --git a/setup.py b/setup.py
index 0bbeed3..98d2120 100644
--- a/setup.py
+++ b/setup.py
@@ -51,7 +51,7 @@ def find_version(*file_paths):
         'asn1crypto>=1.4.0',
         'cbor2>=5.4.2.post1',
         'cryptography>=41.0.1',
-        'pydantic>=1.10.11,<2.0a0',
+        'pydantic>=1.10.11',
         'pyOpenSSL>=23.2.0',
     ]
 )
diff --git a/tests/test_verify_registration_response.py b/tests/test_verify_registration_response.py
index bb7dbd6..7dab1df 100644
--- a/tests/test_verify_registration_response.py
+++ b/tests/test_verify_registration_response.py
@@ -2,6 +2,7 @@
 from unittest import TestCase
 
 import cbor2
+from pydantic import ValidationError
 from webauthn.helpers import base64url_to_bytes, bytes_to_base64url
 from webauthn.helpers.exceptions import InvalidRegistrationResponse
 from webauthn.helpers.known_root_certs import globalsign_r2
@@ -87,9 +88,7 @@ def test_raises_exception_on_unsupported_attestation_type(self) -> None:
         rp_id = "localhost"
         expected_origin = "http://localhost:5000"
 
-        with self.assertRaisesRegex(
-            Exception, "value is not a valid enumeration member"
-        ):
+        with self.assertRaises(ValidationError):
             verify_registration_response(
                 credential=credential,
                 expected_challenge=challenge,
diff --git a/webauthn/helpers/bytes_to_base64url.py b/webauthn/helpers/bytes_to_base64url.py
index ab7eeff..1db9767 100644
--- a/webauthn/helpers/bytes_to_base64url.py
+++ b/webauthn/helpers/bytes_to_base64url.py
@@ -5,4 +5,4 @@ def bytes_to_base64url(val: bytes) -> str:
     """
     Base64URL-encode the provided bytes
     """
-    return urlsafe_b64encode(val).decode("utf-8").replace("=", "")
+    return urlsafe_b64encode(val).decode("utf-8").rstrip("=")
diff --git a/webauthn/helpers/structs.py b/webauthn/helpers/structs.py
index 5aaac61..4bc3cd6 100644
--- a/webauthn/helpers/structs.py
+++ b/webauthn/helpers/structs.py
@@ -1,15 +1,48 @@
 from enum import Enum
-from typing import List, Literal, Optional
+from typing import Callable, List, Literal, Optional, Any, Dict
 
-from pydantic import BaseModel, validator
-from pydantic.fields import ModelField
 
+try:
+    from pydantic import (  # type: ignore[attr-defined]
+        BaseModel,
+        field_validator,
+        ConfigDict,
+        FieldValidationInfo,
+        model_serializer,
+    )
+
+    PYDANTIC_V2 = True
+except ImportError:
+    from pydantic import BaseModel, validator
+    from pydantic.fields import ModelField  # type: ignore[attr-defined]
+
+    PYDANTIC_V2 = False
+
+from .base64url_to_bytes import base64url_to_bytes
 from .bytes_to_base64url import bytes_to_base64url
 from .cose import COSEAlgorithmIdentifier
 from .json_loads_base64url_to_bytes import json_loads_base64url_to_bytes
 from .snake_case_to_camel_case import snake_case_to_camel_case
 
 
+def _to_bytes(v: Any) -> Any:
+    if isinstance(v, bytes):
+        """
+        Return raw bytes from subclasses as well
+
+        `strict_bytes_validator()` performs a similar check to this, but it passes through the
+        subclass as-is and Pydantic then rejects it. Passing the subclass into `bytes()` lets us
+        return `bytes` and make Pydantic happy.
+        """
+        return bytes(v)
+    elif isinstance(v, memoryview):
+        return v.tobytes()
+    else:
+        # Allow Pydantic to validate the field as usual to support the full range of bytes-like
+        # values
+        return v
+
+
 class WebAuthnBaseModel(BaseModel):
     """
     A subclass of Pydantic's BaseModel that includes convenient defaults
@@ -24,37 +57,66 @@ class WebAuthnBaseModel(BaseModel):
     - Converts camelCase properties to snake_case
     """
 
-    class Config:
-        json_encoders = {bytes: bytes_to_base64url}
-        json_loads = json_loads_base64url_to_bytes
-        alias_generator = snake_case_to_camel_case
-        allow_population_by_field_name = True
+    if PYDANTIC_V2:
+        model_config = ConfigDict(  # type: ignore[typeddict-unknown-key]
+            alias_generator=snake_case_to_camel_case,
+            populate_by_name=True,
+            ser_json_bytes="base64",
+        )
 
-    @validator("*", pre=True, allow_reuse=True)
-    def _validate_bytes_fields(cls, v, field: ModelField):
-        """
-        Allow for Pydantic models to define fields as `bytes`, but allow consuming projects to
-        specify bytes-adjacent values (bytes subclasses, memoryviews, etc...) that otherwise
-        function like `bytes`. Keeps the library Pythonic.
-        """
-        if field.type_ != bytes:
-            return v
+        @field_validator("*", mode="before")
+        def _pydantic_v2_validate_bytes_fields(
+            cls, v: Any, info: FieldValidationInfo
+        ) -> Any:
+            field = cls.model_fields[info.field_name]  # type: ignore[attr-defined]
+
+            if field.annotation != bytes:
+                return v
 
-        if isinstance(v, bytes):
+            if isinstance(v, str):
+                # NOTE:
+                # Ideally we should only do this when info.mode == "json", but
+                # that does not work when using the deprecated parse_raw method
+                return base64url_to_bytes(v)
+
+            return _to_bytes(v)
+
+        @model_serializer(mode="wrap", when_used="json")
+        def _pydantic_v2_serialize_bytes_fields(
+            self, serializer: Callable[..., Dict[str, Any]]
+        ) -> Dict[str, Any]:
+            """
+            Remove trailing "=" from bytes fields serialized as base64 encoded strings.
             """
-            Return raw bytes from subclasses as well
 
-            `strict_bytes_validator()` performs a similar check to this, but it passes through the
-            subclass as-is and Pydantic then rejects it. Passing the subclass into `bytes()` lets us
-            return `bytes` and make Pydantic happy.
+            serialized = serializer(self)
+
+            for name, field_info in self.model_fields.items():  # type: ignore[attr-defined]
+                value = serialized.get(name)
+                if field_info.annotation is bytes and isinstance(value, str):
+                    serialized[name] = value.rstrip("=")
+
+            return serialized
+
+    else:
+
+        class Config:
+            json_encoders = {bytes: bytes_to_base64url}
+            json_loads = json_loads_base64url_to_bytes
+            alias_generator = snake_case_to_camel_case
+            allow_population_by_field_name = True
+
+        @validator("*", pre=True, allow_reuse=True)  # type: ignore[type-var]
+        def _pydantic_v1_validate_bytes_fields(cls, v: Any, field: ModelField) -> Any:
             """
-            return bytes(v)
-        elif isinstance(v, memoryview):
-            return v.tobytes()
-        else:
-            # Allow Pydantic to validate the field as usual to support the full range of bytes-like
-            # values
-            return v
+            Allow for Pydantic models to define fields as `bytes`, but allow consuming projects to
+            specify bytes-adjacent values (bytes subclasses, memoryviews, etc...) that otherwise
+            function like `bytes`. Keeps the library Pythonic.
+            """
+            if field.type_ != bytes:
+                return v
+
+            return _to_bytes(v)
 
 
 ################