diff --git a/CHANGELOG.mkd b/CHANGELOG.mkd
index 1df631a06..30f92902a 100644
--- a/CHANGELOG.mkd
+++ b/CHANGELOG.mkd
@@ -6,6 +6,7 @@ Unreleased
 
 - (CODEMGMT-1421) Add skeleton for deploy_spec option [#1189](https://github.com/puppetlabs/r10k/pull/1189)
 - (RK-369) Make module deploys run the postrun command if any environments were updated. [#1190](https://github.com/puppetlabs/r10k/pull/1190)
+- (PF-2437) Allow token authentication to be used with the Forge. [#1192](https://github.com/puppetlabs/r10k/pull/1192)
 
 3.10.0
 ------
diff --git a/doc/dynamic-environments/configuration.mkd b/doc/dynamic-environments/configuration.mkd
index baecdec84..0a6b4677c 100644
--- a/doc/dynamic-environments/configuration.mkd
+++ b/doc/dynamic-environments/configuration.mkd
@@ -167,9 +167,8 @@ This defaults to 'https://forgeapi.puppetlabs.com'
 
 #### authorization_token
 
-The 'authorization_token' setting allows you to provide a token for authenticating to a
-custom Forge server. When set, 'baseurl' must also be set.
-You will need to prepend your token with 'Bearer ' if using Artifactory as your Forge server.
+The 'authorization_token' setting allows you to provide a token for authenticating to a Forge server.
+You will need to prepend your token with 'Bearer ' to authenticate to the Forge or when using your own Artifactory server.
 
 ```yaml
 forge:
diff --git a/lib/r10k/initializers.rb b/lib/r10k/initializers.rb
index ec99d4ed8..837ea6fff 100644
--- a/lib/r10k/initializers.rb
+++ b/lib/r10k/initializers.rb
@@ -63,13 +63,7 @@ class ForgeInitializer < BaseInitializer
       def call
         with_setting(:baseurl) { |value| PuppetForge.host = value }
         with_setting(:proxy) { |value| PuppetForge::Connection.proxy = value }
-        with_setting(:authorization_token) { |value|
-          if @settings[:baseurl]
-            PuppetForge::Connection.authorization = value
-          else
-            raise R10K::Error, "Cannot specify a Forge authorization token without configuring a custom baseurl."
-          end
-        }
+        with_setting(:authorization_token) { |value| PuppetForge::Connection.authorization = value }
       end
     end
   end
diff --git a/spec/unit/action/runner_spec.rb b/spec/unit/action/runner_spec.rb
index f9761545b..5c3f18bbe 100644
--- a/spec/unit/action/runner_spec.rb
+++ b/spec/unit/action/runner_spec.rb
@@ -230,14 +230,6 @@ def call
         runner.setup_settings
         runner.setup_authorization
       end
-
-      it 'errors if no custom forge URL is set' do
-        options = { config: "spec/fixtures/unit/action/r10k_forge_auth_no_url.yaml" }
-        runner = described_class.new(options, %w[args yes], action_class)
-        expect(PuppetForge::Connection).not_to receive(:authorization=).with('faketoken')
-
-        expect { runner.setup_settings }.to raise_error(R10K::Error, /Cannot specify a Forge auth/)
-      end
     end
 
     context "license auth" do