diff --git a/src/main/java/com/pawwithu/connectdog/config/SecurityConfig.java b/src/main/java/com/pawwithu/connectdog/config/SecurityConfig.java
index 939f4ece..7c86ab9b 100644
--- a/src/main/java/com/pawwithu/connectdog/config/SecurityConfig.java
+++ b/src/main/java/com/pawwithu/connectdog/config/SecurityConfig.java
@@ -78,6 +78,8 @@ public SecurityFilterChain filterChain(HttpSecurity http, HandlerMappingIntrospe
                                 .requestMatchers(mvcMatcherBuilder.pattern("/v3/api-docs/**")).permitAll()
                                 .requestMatchers(mvcMatcherBuilder.pattern("/volunteers/nickname/isDuplicated")).permitAll()
                                 .requestMatchers(mvcMatcherBuilder.pattern("/fcm-test")).permitAll()
+                                .requestMatchers(mvcMatcherBuilder.pattern("/volunteers/posts/{postId}/applications")).hasRole("AUTH_VOLUNTEER")
+                                .requestMatchers(mvcMatcherBuilder.pattern("/intermediaries/**")).hasRole("AUTH_INTERMEDIARY")
                                 .anyRequest().authenticated())
                 .addFilterAfter(customVolunteerAuthFilter(), LogoutFilter.class)
                 .addFilterAfter(customIntermediaryAuthFilter(), LogoutFilter.class)
diff --git a/src/main/java/com/pawwithu/connectdog/error/ErrorCode.java b/src/main/java/com/pawwithu/connectdog/error/ErrorCode.java
index 99b5f9aa..ba46bd61 100644
--- a/src/main/java/com/pawwithu/connectdog/error/ErrorCode.java
+++ b/src/main/java/com/pawwithu/connectdog/error/ErrorCode.java
@@ -12,6 +12,8 @@ public enum ErrorCode {
     ALREADY_LOGOUT_MEMBER("A3", "이미 로그아웃한 회원입니다"),
     EMAIL_SEND_ERROR("A4", "이메일 인증 코드 전송을 실패했습니다."),
     UNKNOWN_PROVIDER("A4", "provider 값이 KAKAO 또는 NAVER가 아닙니다."),
+    NOT_ALLOWED_MEMBER("A6", "해당 요청에 대한 권한이 없습니다."),
+    NOT_AUTHENTICATED_REQUEST("A7", "유효한 JWT 토큰이 없습니다."),
 
 
     VOLUNTEER_NOT_FOUND("M1", "해당 이동봉사자를 찾을 수 없습니다."), // Member -> M (이동봉사자, 이동봉사 중개 통일)
diff --git a/src/main/java/com/pawwithu/connectdog/jwt/JwtAccessDeniedHandler.java b/src/main/java/com/pawwithu/connectdog/jwt/JwtAccessDeniedHandler.java
index 228f5641..62e2fcbc 100644
--- a/src/main/java/com/pawwithu/connectdog/jwt/JwtAccessDeniedHandler.java
+++ b/src/main/java/com/pawwithu/connectdog/jwt/JwtAccessDeniedHandler.java
@@ -1,5 +1,7 @@
 package com.pawwithu.connectdog.jwt;
 
+import com.fasterxml.jackson.databind.ObjectMapper;
+import com.pawwithu.connectdog.error.dto.ErrorResponse;
 import jakarta.servlet.http.HttpServletRequest;
 import jakarta.servlet.http.HttpServletResponse;
 import lombok.extern.slf4j.Slf4j;
@@ -9,6 +11,8 @@
 
 import java.io.IOException;
 
+import static com.pawwithu.connectdog.error.ErrorCode.NOT_ALLOWED_MEMBER;
+
 /**
  * 필요한 권한이 존재하지 않는 경우에 403 Forbidden 에러를 리턴
  * -> Spring Security가 AccessDeniedHandler 인터페이스의 handle 메서드 호출
@@ -17,10 +21,22 @@
 @Component
 public class JwtAccessDeniedHandler implements AccessDeniedHandler {
 
+    private final ObjectMapper objectMapper;
+
+    public JwtAccessDeniedHandler(ObjectMapper objectMapper) {
+        this.objectMapper = objectMapper;
+    }
+
     @Override
     public void handle(HttpServletRequest request, HttpServletResponse response, AccessDeniedException accessDeniedException) throws IOException {
         // 필요한 권한이 없이 접근하려 할때 403
         log.info("허가 받지 않은 사용자의 접근입니다.");
-        response.sendError(HttpServletResponse.SC_FORBIDDEN);
+        ErrorResponse errorResponse = ErrorResponse.of(NOT_ALLOWED_MEMBER.getCode(), NOT_ALLOWED_MEMBER.getMessage());
+        String jsonResponse = objectMapper.writeValueAsString(errorResponse);
+
+        response.setContentType("application/json");
+        response.setCharacterEncoding("UTF-8");
+        response.setStatus(HttpServletResponse.SC_FORBIDDEN);
+        response.getWriter().write(jsonResponse);
     }
 }
\ No newline at end of file
diff --git a/src/main/java/com/pawwithu/connectdog/jwt/JwtAuthenticationEntryPoint.java b/src/main/java/com/pawwithu/connectdog/jwt/JwtAuthenticationEntryPoint.java
index 4befa312..124ee7ba 100644
--- a/src/main/java/com/pawwithu/connectdog/jwt/JwtAuthenticationEntryPoint.java
+++ b/src/main/java/com/pawwithu/connectdog/jwt/JwtAuthenticationEntryPoint.java
@@ -1,5 +1,7 @@
 package com.pawwithu.connectdog.jwt;
 
+import com.fasterxml.jackson.databind.ObjectMapper;
+import com.pawwithu.connectdog.error.dto.ErrorResponse;
 import jakarta.servlet.ServletException;
 import jakarta.servlet.http.HttpServletRequest;
 import jakarta.servlet.http.HttpServletResponse;
@@ -10,6 +12,8 @@
 
 import java.io.IOException;
 
+import static com.pawwithu.connectdog.error.ErrorCode.NOT_AUTHENTICATED_REQUEST;
+
 /**
  * 유효한 자격 증명을 제공하지 않고 접근하려 할 때, 401 UnAuthorized 에러를 리턴
  * -> Spring Security가 AuthenticationEntryPoint 인터페이스의 commence 메서드 호출
@@ -18,10 +22,22 @@
 @Component
 public class JwtAuthenticationEntryPoint implements AuthenticationEntryPoint {
 
+    private final ObjectMapper objectMapper;
+
+    public JwtAuthenticationEntryPoint(ObjectMapper objectMapper) {
+        this.objectMapper = objectMapper;
+    }
+
     @Override
     public void commence(HttpServletRequest request, HttpServletResponse response,
                          AuthenticationException authException) throws IOException, ServletException {
         log.info("인증되지 않은 요청입니다.");
-        response.sendError(HttpServletResponse.SC_UNAUTHORIZED);
+        ErrorResponse errorResponse = ErrorResponse.of(NOT_AUTHENTICATED_REQUEST.getCode(), NOT_AUTHENTICATED_REQUEST.getMessage());
+        String jsonResponse = objectMapper.writeValueAsString(errorResponse);
+
+        response.setContentType("application/json");
+        response.setCharacterEncoding("UTF-8");
+        response.setStatus(HttpServletResponse.SC_UNAUTHORIZED);
+        response.getWriter().write(jsonResponse);
     }
 }
\ No newline at end of file