diff --git a/redis/asyncio/connection.py b/redis/asyncio/connection.py
index 9cd0d082a4..939a95f9b7 100644
--- a/redis/asyncio/connection.py
+++ b/redis/asyncio/connection.py
@@ -74,6 +74,7 @@
 )
 from redis.asyncio.retry import Retry
 from redis.backoff import NoBackoff
+from redis.connection import HiredisRespSerializer
 from redis.credentials import CredentialProvider, UsernamePasswordCredentialProvider
 from redis.exceptions import (
     AuthenticationError,
@@ -689,6 +690,11 @@ def __init__(
         self._connect_callbacks: List[weakref.WeakMethod[ConnectCallbackT]] = []
         self._buffer_cutoff = 6000
         self._re_auth_token: Optional[TokenInterface] = None
+        self._command_packer = (
+            HiredisRespSerializer(self._pack_command_python, self.encoder.encode)
+            if HIREDIS_AVAILABLE
+            else None
+        )
         self._should_reconnect = False
 
         try:
@@ -1316,6 +1322,11 @@ async def _read_response_from_parser(
         return await self._parser.read_response(disable_decoding=disable_decoding)
 
     def pack_command(self, *args: EncodableT) -> List[bytes]:
+        if self._command_packer is not None:
+            return self._command_packer.pack(*args)
+        return self._pack_command_python(*args)
+
+    def _pack_command_python(self, *args: EncodableT) -> List[bytes]:
         """Pack a series of arguments into the Redis protocol"""
         output = []
         # the client might have included 1 or more literal arguments in
diff --git a/redis/connection.py b/redis/connection.py
index 189d16d91f..23df3cc3ba 100644
--- a/redis/connection.py
+++ b/redis/connection.py
@@ -122,8 +122,14 @@
 
 
 class HiredisRespSerializer:
+    def __init__(self, fallback, encode):
+        self._fallback = fallback
+        self._encode = encode
+
     def pack(self, *args: List):
         """Pack a series of arguments into the Redis protocol"""
+        if any(isinstance(arg, memoryview) for arg in args):
+            return self._fallback(*args)
         output = []
 
         if isinstance(args[0], str):
@@ -131,7 +137,7 @@ def pack(self, *args: List):
         elif b" " in args[0]:
             args = tuple(args[0].split()) + args[1:]
         args = tuple(
-            bytes(arg) if isinstance(arg, (bytearray, memoryview)) else arg
+            bytes(arg) if isinstance(arg, bytearray) else self._encode(arg)
             for arg in args
         )
         try:
@@ -976,7 +982,8 @@ def _construct_command_packer(self, packer):
         if packer is not None:
             return packer
         elif HIREDIS_AVAILABLE:
-            return HiredisRespSerializer()
+            fallback = PythonRespSerializer(self._buffer_cutoff, self.encoder.encode)
+            return HiredisRespSerializer(fallback.pack, self.encoder.encode)
         else:
             return PythonRespSerializer(self._buffer_cutoff, self.encoder.encode)
 
diff --git a/tests/test_asyncio/test_connection.py b/tests/test_asyncio/test_connection.py
index c56b5d9dd4..a960c4adbb 100644
--- a/tests/test_asyncio/test_connection.py
+++ b/tests/test_asyncio/test_connection.py
@@ -18,6 +18,7 @@
 from redis.asyncio import ConnectionPool, Redis
 from redis.asyncio.connection import (
     Connection,
+    HiredisRespSerializer,
     SSLConnection,
     UnixDomainSocketConnection,
     parse_url,
@@ -83,6 +84,39 @@ def test_connection_default_parser_matches_default_protocol():
     assert conn.protocol == 3
 
 
+@pytest.mark.skipif(not HIREDIS_AVAILABLE, reason="hiredis is not installed")
+def test_connection_uses_hiredis_command_packer(monkeypatch):
+    calls = []
+
+    def pack_command(args):
+        calls.append(args)
+        return b"packed"
+
+    monkeypatch.setattr("redis.connection.hiredis.pack_command", pack_command)
+    connection = Connection()
+
+    assert isinstance(connection._command_packer, HiredisRespSerializer)
+    assert connection.pack_command("SET", "key", "value") == [b"packed"]
+    assert calls == [(b"SET", b"key", b"value")]
+
+
+def test_connection_uses_python_command_packer_without_hiredis(monkeypatch):
+    monkeypatch.setattr("redis.asyncio.connection.HIREDIS_AVAILABLE", False)
+    connection = Connection()
+
+    assert connection._command_packer is None
+    assert connection.pack_command("PING") == [b"*1\r\n$4\r\nPING\r\n"]
+
+
+@pytest.mark.parametrize("protocol", [2, 3])
+def test_async_pack_command_respects_connection_encoding(protocol):
+    connection = Connection(encoding="latin-1", protocol=protocol)
+
+    assert connection.pack_command("SET", "key", "café") == [
+        b"*3\r\n$3\r\nSET\r\n$3\r\nkey\r\n$4\r\ncaf\xe9\r\n"
+    ]
+
+
 @pytest.mark.parametrize(
     ("buffer", "eof", "expected"),
     [
diff --git a/tests/test_connection.py b/tests/test_connection.py
index 7963b19057..86311a878e 100644
--- a/tests/test_connection.py
+++ b/tests/test_connection.py
@@ -733,6 +733,15 @@ def test_pack_command(Class):
     assert actual == expected, f"actual = {actual}, expected = {expected}"
 
 
+@pytest.mark.parametrize("protocol", [2, 3])
+def test_pack_command_respects_connection_encoding(protocol):
+    connection = Connection(encoding="latin-1", protocol=protocol)
+
+    assert connection.pack_command("SET", "key", "café") == [
+        b"*3\r\n$3\r\nSET\r\n$3\r\nkey\r\n$4\r\ncaf\xe9\r\n"
+    ]
+
+
 @pytest.mark.fixed_client
 def test_create_single_connection_client_from_url():
     client = redis.Redis.from_url(