diff --git a/fastapi/applications.py b/fastapi/applications.py
index 05c7bd2be..b8c46ca48 100644
--- a/fastapi/applications.py
+++ b/fastapi/applications.py
@@ -27,6 +27,7 @@ from fastapi.openapi.docs import (
     get_swagger_ui_html,
     get_swagger_ui_oauth2_redirect_html,
 )
+from fastapi.openapi.models import Server
 from fastapi.openapi.utils import get_openapi
 from fastapi.params import Depends
 from fastapi.types import DecoratedCallable, IncEx
@@ -286,7 +287,7 @@ class FastAPI(Starlette):
             ),
         ] = None,
         servers: Annotated[
-            Optional[List[Dict[str, Union[str, Any]]]],
+            Optional[List[Union[Dict[str, Union[str, Any]], Server]]],
             Doc(
                 """
                 A `list` of `dict`s with connectivity information to a target server.
@@ -997,7 +998,7 @@ class FastAPI(Starlette):
 
     def setup(self) -> None:
         if self.openapi_url:
-            urls = (server_data.get("url") for server_data in self.servers)
+            urls = (dict(server_data).get("url") for server_data in self.servers)
             server_urls = {url for url in urls if url}
 
             async def openapi(req: Request) -> JSONResponse:
diff --git a/fastapi/openapi/utils.py b/fastapi/openapi/utils.py
index 808646cc2..c1115c30a 100644
--- a/fastapi/openapi/utils.py
+++ b/fastapi/openapi/utils.py
@@ -23,7 +23,7 @@ from fastapi.dependencies.utils import (
 )
 from fastapi.encoders import jsonable_encoder
 from fastapi.openapi.constants import METHODS_WITH_BODY, REF_PREFIX, REF_TEMPLATE
-from fastapi.openapi.models import OpenAPI
+from fastapi.openapi.models import OpenAPI, Server
 from fastapi.params import Body, ParamTypes
 from fastapi.responses import Response
 from fastapi.types import ModelNameMap
@@ -484,7 +484,7 @@ def get_openapi(
     routes: Sequence[BaseRoute],
     webhooks: Optional[Sequence[BaseRoute]] = None,
     tags: Optional[List[Dict[str, Any]]] = None,
-    servers: Optional[List[Dict[str, Union[str, Any]]]] = None,
+    servers: Optional[List[Union[Dict[str, Union[str, Any]], Server]]] = None,
     terms_of_service: Optional[str] = None,
     contact: Optional[Dict[str, Union[str, Any]]] = None,
     license_info: Optional[Dict[str, Union[str, Any]]] = None,
diff --git a/tests/test_openapi_servers.py b/tests/test_openapi_servers.py
index 8697c8438..cebb2f203 100644
--- a/tests/test_openapi_servers.py
+++ b/tests/test_openapi_servers.py
@@ -1,14 +1,15 @@
 from dirty_equals import IsOneOf
 from fastapi import FastAPI
+from fastapi.openapi.models import Server
 from fastapi.testclient import TestClient
 
 app = FastAPI(
     servers=[
         {"url": "/", "description": "Default, relative server"},
-        {
-            "url": "http://staging.localhost.tiangolo.com:8000",
-            "description": "Staging but actually localhost still",
-        },
+        Server(
+            url="http://staging.localhost.tiangolo.com:8000",
+            description="Staging but actually localhost still",
+        ),
         {"url": "https://prod.example.com"},
     ]
 )