diff --git a/packages/docusaurus-utils/src/__tests__/__snapshots__/markdownLinks.test.ts.snap b/packages/docusaurus-utils/src/__tests__/__snapshots__/markdownLinks.test.ts.snap
index afef584b11..17102ffd25 100644
--- a/packages/docusaurus-utils/src/__tests__/__snapshots__/markdownLinks.test.ts.snap
+++ b/packages/docusaurus-utils/src/__tests__/__snapshots__/markdownLinks.test.ts.snap
@@ -26,6 +26,27 @@ exports[`replaceMarkdownLinks does basic replace 1`] = `
 }
 `;
 
+exports[`replaceMarkdownLinks handles link titles 1`] = `
+{
+  "brokenMarkdownLinks": [],
+  "newContent": "
+[URL](/docs/file "title")
+[URL](/docs/file 'title')
+[URL](/docs/file (title))
+",
+}
+`;
+
+exports[`replaceMarkdownLinks handles stray spaces 1`] = `
+{
+  "brokenMarkdownLinks": [],
+  "newContent": "
+[URL]( /docs/file )
+[ref]:  /docs/file
+",
+}
+`;
+
 exports[`replaceMarkdownLinks ignores links in HTML comments 1`] = `
 {
   "brokenMarkdownLinks": [
@@ -110,16 +131,26 @@ exports[`replaceMarkdownLinks ignores links in inline code 1`] = `
 }
 `;
 
+exports[`replaceMarkdownLinks preserves query/hash 1`] = `
+{
+  "brokenMarkdownLinks": [],
+  "newContent": "
+[URL](/docs/file?foo=bar#baz)
+[URL](/docs/file#a)
+[URL](/docs/file?c)
+",
+}
+`;
+
 exports[`replaceMarkdownLinks replaces Markdown links with spaces 1`] = `
 {
   "brokenMarkdownLinks": [],
   "newContent": "
 [doc a](/docs/doc%20a)
 [doc a](</docs/doc%20a>)
-[doc a](/docs/doc%20a)
 [doc b](/docs/my%20docs/doc%20b)
 [doc b](</docs/my%20docs/doc%20b>)
-[doc b](/docs/my%20docs/doc%20b)
+[doc]: </docs/my%20docs/doc%20b>
 ",
 }
 `;
diff --git a/packages/docusaurus-utils/src/__tests__/markdownLinks.test.ts b/packages/docusaurus-utils/src/__tests__/markdownLinks.test.ts
index eb311c481f..691b9599aa 100644
--- a/packages/docusaurus-utils/src/__tests__/markdownLinks.test.ts
+++ b/packages/docusaurus-utils/src/__tests__/markdownLinks.test.ts
@@ -277,10 +277,100 @@ The following operations are defined for [URI]s:
         fileString: `
 [doc a](./doc%20a.md)
 [doc a](<./doc a.md>)
-[doc a](./doc a.md)
 [doc b](./my%20docs/doc%20b.md)
 [doc b](<./my docs/doc b.md>)
-[doc b](./my docs/doc b.md)
+[doc]: <./my docs/doc b.md>
+`,
+      }),
+    ).toMatchSnapshot();
+  });
+
+  it('does not replace non-Markdown links', () => {
+    const input = `
+[asset](./file.md_asset/1.png)
+[URL](<https://example.com/file_(1).md>)
+[not a link]((foo)
+[not a link](foo bar)
+[not a link]: foo bar
+[not a link]: (foo
+[not a link]: bar)
+`;
+    expect(
+      replaceMarkdownLinks({
+        siteDir: '.',
+        filePath: 'docs/file.md',
+        contentPaths: {
+          contentPath: 'docs',
+          contentPathLocalized: 'i18n/docs-localized',
+        },
+        sourceToPermalink: {
+          '@site/docs/file.md': '/docs/file',
+        },
+        fileString: input,
+      }),
+    ).toEqual({
+      newContent: input,
+      brokenMarkdownLinks: [],
+    });
+  });
+
+  it('handles stray spaces', () => {
+    expect(
+      replaceMarkdownLinks({
+        siteDir: '.',
+        filePath: 'docs/file.md',
+        contentPaths: {
+          contentPath: 'docs',
+          contentPathLocalized: 'i18n/docs-localized',
+        },
+        sourceToPermalink: {
+          '@site/docs/file.md': '/docs/file',
+        },
+        fileString: `
+[URL]( ./file.md )
+[ref]:  ./file.md
+`,
+      }),
+    ).toMatchSnapshot();
+  });
+
+  it('handles link titles', () => {
+    expect(
+      replaceMarkdownLinks({
+        siteDir: '.',
+        filePath: 'docs/file.md',
+        contentPaths: {
+          contentPath: 'docs',
+          contentPathLocalized: 'i18n/docs-localized',
+        },
+        sourceToPermalink: {
+          '@site/docs/file.md': '/docs/file',
+        },
+        fileString: `
+[URL](./file.md "title")
+[URL](./file.md 'title')
+[URL](./file.md (title))
+`,
+      }),
+    ).toMatchSnapshot();
+  });
+
+  it('preserves query/hash', () => {
+    expect(
+      replaceMarkdownLinks({
+        siteDir: '.',
+        filePath: 'docs/file.md',
+        contentPaths: {
+          contentPath: 'docs',
+          contentPathLocalized: 'i18n/docs-localized',
+        },
+        sourceToPermalink: {
+          '@site/docs/file.md': '/docs/file',
+        },
+        fileString: `
+[URL](./file.md?foo=bar#baz)
+[URL](./file.md#a)
+[URL](./file.md?c)
 `,
       }),
     ).toMatchSnapshot();
diff --git a/packages/docusaurus-utils/src/markdownLinks.ts b/packages/docusaurus-utils/src/markdownLinks.ts
index 1cb3cf5d85..24752519fd 100644
--- a/packages/docusaurus-utils/src/markdownLinks.ts
+++ b/packages/docusaurus-utils/src/markdownLinks.ts
@@ -102,12 +102,26 @@ export function replaceMarkdownLinks<T extends ContentPaths>({
     // Replace inline-style links or reference-style links e.g:
     // This is [Document 1](doc1.md)
     // [doc1]: doc1.md
-    const mdRegex =
-      /(?:\]\(|\]:\s*)(?!https?:\/\/|@site\/)<?(?<filename>[^'"\]\s>]+(?:\s[^'"\]\s>]+)*\.mdx?)>?/g;
-    let mdMatch = mdRegex.exec(modifiedLine);
+    const linkTitlePattern = '(?:\\s+(?:\'.*?\'|".*?"|\\(.*?\\)))?';
+    const linkSuffixPattern = '(?:\\?[^#>\\s]+)?(?:#[^>\\s]+)?';
+    const linkCapture = (forbidden: string) =>
+      `((?!https?://|@site/)[^${forbidden}#?]+)`;
+    const linkURLPattern = `(?:${linkCapture(
+      '()\\s',
+    )}${linkSuffixPattern}|<${linkCapture('>')}${linkSuffixPattern}>)`;
+    const linkPattern = new RegExp(
+      `\\[(?:(?!\\]\\().)*\\]\\(\\s*${linkURLPattern}${linkTitlePattern}\\s*\\)|^\\s*\\[[^[\\]]*[^[\\]\\s][^[\\]]*\\]:\\s*${linkURLPattern}${linkTitlePattern}$`,
+      'dgm',
+    );
+    let mdMatch = linkPattern.exec(modifiedLine);
     while (mdMatch !== null) {
       // Replace it to correct html link.
-      const mdLink = mdMatch.groups!.filename!;
+      const mdLink = mdMatch.slice(1, 5).find(Boolean)!;
+      const mdLinkRange = mdMatch.indices!.slice(1, 5).find(Boolean)!;
+      if (!/\.mdx?$/.test(mdLink)) {
+        mdMatch = linkPattern.exec(modifiedLine);
+        continue;
+      }
 
       const sourcesToTry: string[] = [];
       // ./file.md and ../file.md are always relative to the current file
@@ -135,13 +149,13 @@ export function replaceMarkdownLinks<T extends ContentPaths>({
           .split('/')
           .map((part) => part.replace(/\s/g, '%20'))
           .join('/');
-        modifiedLine = modifiedLine.replace(
-          mdMatch[0]!,
-          mdMatch[0]!.replace(mdLink, encodedPermalink),
-        );
+        modifiedLine = `${modifiedLine.slice(
+          0,
+          mdLinkRange[0],
+        )}${encodedPermalink}${modifiedLine.slice(mdLinkRange[1])}`;
         // Adjust the lastIndex to avoid passing over the next link if the
         // newly replaced URL is shorter.
-        mdRegex.lastIndex += encodedPermalink.length - mdLink.length;
+        linkPattern.lastIndex += encodedPermalink.length - mdLink.length;
       } else {
         const brokenMarkdownLink: BrokenMarkdownLink<T> = {
           contentPaths,
@@ -151,7 +165,7 @@ export function replaceMarkdownLinks<T extends ContentPaths>({
 
         brokenMarkdownLinks.push(brokenMarkdownLink);
       }
-      mdMatch = mdRegex.exec(modifiedLine);
+      mdMatch = linkPattern.exec(modifiedLine);
     }
     return modifiedLine;
   });