diff --git a/CHANGELOG.md b/CHANGELOG.md
index bc6060c..f97a38a 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,6 +1,6 @@
 ### next
 
-* TODO: Replace this bullet point with an actual description of a change.
+* Switched to Zeitwerk as autoloader (#17)
 
 ### 2.6.0 (3 January 2025)
 
diff --git a/grape-jwt-authentication.gemspec b/grape-jwt-authentication.gemspec
index abec391..b869c29 100644
--- a/grape-jwt-authentication.gemspec
+++ b/grape-jwt-authentication.gemspec
@@ -37,6 +37,7 @@ Gem::Specification.new do |spec|
   spec.add_dependency 'grape', '>= 1.0', '< 3.0'
   spec.add_dependency 'httparty', '>= 0.21'
   spec.add_dependency 'jwt', '~> 2.6'
-  spec.add_dependency 'keyless', '~> 1.4'
+  spec.add_dependency 'keyless', '~> 1.6'
   spec.add_dependency 'recursive-open-struct', '~> 2.0'
+  spec.add_dependency 'zeitwerk', '~> 2.6'
 end
diff --git a/lib/grape/jwt/authentication.rb b/lib/grape/jwt/authentication.rb
index df42927..729cbdd 100644
--- a/lib/grape/jwt/authentication.rb
+++ b/lib/grape/jwt/authentication.rb
@@ -1,5 +1,6 @@
 # frozen_string_literal: true
 
+require 'zeitwerk'
 require 'active_support'
 require 'active_support/concern'
 require 'active_support/configurable'
@@ -10,10 +11,6 @@
 require 'jwt'
 require 'keyless'
 require 'grape'
-require 'grape/jwt/authentication/version'
-require 'grape/jwt/authentication/configuration'
-require 'grape/jwt/authentication/dependencies'
-require 'grape/jwt/authentication/jwt_handler'
 
 module Grape
   module Jwt
@@ -22,32 +19,44 @@ module Authentication
       extend ActiveSupport::Concern
       include Grape::DSL::API
 
+      # Setup a Zeitwerk autoloader instance and configure it
+      loader = Zeitwerk::Loader.for_gem_extension(Grape::Jwt)
+
+      # Finish the auto loader configuration
+      loader.setup
+
+      # Make sure to eager load all SDK constants
+      loader.eager_load
+
       class << self
         attr_writer :configuration
-      end
 
-      # Retrieve the current configuration object.
-      #
-      # @return [Configuration]
-      def self.configuration
-        @configuration ||= Configuration.new
-      end
+        # Include top-level features
+        include Extensions::Dependencies
 
-      # Configure the concern by providing a block which takes
-      # care of this task. Example:
-      #
-      #   Grape::Jwt::Authentication.configure do |conf|
-      #     # conf.xyz = [..]
-      #   end
-      def self.configure
-        yield(configuration)
-        configure_dependencies
-      end
+        # Retrieve the current configuration object.
+        #
+        # @return [Configuration]
+        def configuration
+          @configuration ||= Configuration.new
+        end
 
-      # Reset the current configuration with the default one.
-      def self.reset_configuration!
-        self.configuration = Configuration.new
-        configure_dependencies
+        # Configure the concern by providing a block which takes
+        # care of this task. Example:
+        #
+        #   Grape::Jwt::Authentication.configure do |conf|
+        #     # conf.xyz = [..]
+        #   end
+        def configure
+          yield(configuration)
+          configure_dependencies
+        end
+
+        # Reset the current configuration with the default one.
+        def reset_configuration!
+          self.configuration = Configuration.new
+          configure_dependencies
+        end
       end
 
       included do
diff --git a/lib/grape/jwt/authentication/dependencies.rb b/lib/grape/jwt/authentication/dependencies.rb
deleted file mode 100644
index 880c8f5..0000000
--- a/lib/grape/jwt/authentication/dependencies.rb
+++ /dev/null
@@ -1,34 +0,0 @@
-# frozen_string_literal: true
-
-module Grape
-  module Jwt
-    # The Grape JWT authentication concern.
-    module Authentication
-      # Specifies which configuration keys are shared between keyless
-      # and grape-jwt-authentication, so that we can easily pass through
-      # our configuration to keyless.
-      KEYLESS_CONFIGURATION = %i[
-        authenticator rsa_public_key_url rsa_public_key_caching
-        rsa_public_key_expiration jwt_issuer jwt_beholder jwt_options
-        jwt_verification_key
-      ].freeze
-
-      # (Re)configure our gem dependencies. We take care of setting up
-      # +Keyless+, which has been extracted from this gem.
-      def self.configure_dependencies
-        configure_keyless
-      end
-
-      # Configure the +Keyless+ gem with our configuration.
-      def self.configure_keyless
-        configuration = Grape::Jwt::Authentication.configuration
-
-        Keyless.configure do |keyless|
-          KEYLESS_CONFIGURATION.each do |option|
-            keyless.send("#{option}=", configuration.send(option))
-          end
-        end
-      end
-    end
-  end
-end
diff --git a/lib/grape/jwt/authentication/extensions/dependencies.rb b/lib/grape/jwt/authentication/extensions/dependencies.rb
new file mode 100644
index 0000000..f26d33f
--- /dev/null
+++ b/lib/grape/jwt/authentication/extensions/dependencies.rb
@@ -0,0 +1,38 @@
+# frozen_string_literal: true
+
+module Grape
+  module Jwt
+    module Authentication
+      module Extensions
+        # Root-level handling of dependencies.
+        module Dependencies
+          # Specifies which configuration keys are shared between keyless
+          # and grape-jwt-authentication, so that we can easily pass through
+          # our configuration to keyless.
+          KEYLESS_CONFIGURATION = %i[
+            authenticator rsa_public_key_url rsa_public_key_caching
+            rsa_public_key_expiration jwt_issuer jwt_beholder jwt_options
+            jwt_verification_key
+          ].freeze
+
+          # (Re)configure our gem dependencies. We take care of setting up
+          # +Keyless+, which has been extracted from this gem.
+          def configure_dependencies
+            configure_keyless
+          end
+
+          # Configure the +Keyless+ gem with our configuration.
+          def configure_keyless
+            configuration = Grape::Jwt::Authentication.configuration
+
+            Keyless.configure do |keyless|
+              KEYLESS_CONFIGURATION.each do |option|
+                keyless.send("#{option}=", configuration.send(option))
+              end
+            end
+          end
+        end
+      end
+    end
+  end
+end