自定义过滤器如下：

/**
 * jwt过滤器，验证令牌是否合法
 *
 * @author 朱铭健
 */
@Slf4j
public class JwtAuthenticationFilter extends OncePerRequestFilter {
    @Override
    protected void doFilterInternal(HttpServletRequest request, HttpServletResponse response, FilterChain filterChain) throws ServletException, IOException {
    	//换成你自己的获取Token方式
        String token = "";
        if (StringUtil.isNotNullOrEmpty(token)) {
            try {
         		//TODO 这里写校验逻辑和抛出异常
            } catch (JWTException e) {
                //这里的JwtAuthException是一个自定义的AuthenticationException
                throw new JwtAuthException(e.getMessage());
            } catch (Exception e) {
                log.error("JWT认证异常 - {}：", token, e);
                //这里的JwtAuthException是一个自定义的AuthenticationException
                throw new JwtAuthException("JWT认证异常");
            }
        }
        filterChain.doFilter(request, response);
    }
}

定义一个 AuthenticationEntryPoint

/**
 * @author 朱铭健
 */
@Slf4j
@Component
public class AuthenticationExceptionHandler implements AuthenticationEntryPoint{
    @Override
    public void commence(HttpServletRequest request, HttpServletResponse response, AuthenticationException authException) throws IOException {
    	//使用response处理你的异常，包括响应json，跳转页面等
    }
}

配置 Configurer，关键是要将过滤器置于ExceptionTranslationFilter之后，异常处理是由ExceptionTranslationFilter实现的

public class JwtAuthenticationConfigurer extends AbstractHttpConfigurer<JwtAuthenticationConfigurer, HttpSecurity> {

    @Override
    public void configure(HttpSecurity builder) {
        JwtAuthenticationFilter filter = new JwtAuthenticationFilter();
        // 务必注意这里与配置类中声明的先后顺序
        builder.addFilterAfter(filter, ExceptionTranslationFilter.class);
    }
}

    public SecurityFilterChain adminFilterChain(HttpSecurity http) throws Exception {
        //Jwt相关配置
        http.with(new JwtAuthenticationConfigurer(), Customizer.withDefaults());
        return http.build();
    }