diff --git a/CHANGES b/CHANGES
index fcab1798..1acb978a 100644
--- a/CHANGES
+++ b/CHANGES
@@ -11,6 +11,10 @@ Unreleased
   include the ``params`` and ``req_kwargs`` attributes added by ``responses``.
 * Fixed non-strict `json_params_matcher` raising `TypeError` when an actual
   nested object is compared with an expected scalar value.
+* Fixed `query_param_matcher` rejecting sequence-valued params such as
+  ``{"ids": [1, 2]}``, which `requests` sends as a repeated key. Numeric items
+  are converted to strings, a nested sequence is flattened and a ``None``
+  element is dropped, matching how `requests` builds the query string. See #816
 
 0.26.3
 ------
diff --git a/responses/matchers.py b/responses/matchers.py
index 15df1884..f9540cdd 100644
--- a/responses/matchers.py
+++ b/responses/matchers.py
@@ -224,11 +224,85 @@ def query_param_matcher(
 
     """
 
-    params_dict = dict(params) if params else {}
-
-    for k, v in params_dict.items():
-        if isinstance(v, (int, float)):
-            params_dict[k] = str(v)
+    # A params value that produces no query string at all, which is not the
+    # same as one that produces an empty value.
+    _DROP = object()
+
+    def _stringify(item: Any) -> Any:
+        """Render one value the way it comes back out of the query string.
+
+        Everything reaching here is already a scalar as far as the query string
+        is concerned, and ``responses`` reads the query string back as text, so
+        the comparison has to be against text. ``bytes`` are decoded rather
+        than ``str()``-ed, because ``urlencode`` percent-encodes the bytes
+        themselves and ``b"x"`` comes back as ``"x"`` rather than ``"b'x'"``.
+        """
+        if isinstance(item, str):
+            return item
+        if isinstance(item, bytes):
+            return item.decode()
+        return str(item)
+
+    def _normalize(value: Any) -> Any:
+        """Present a ``params`` value the way the request's query string parses.
+
+        ``responses`` reads the query string back as strings and groups a
+        repeated key into a list, collapsing a key that appears once to a bare
+        value. Sequences here are normalized the same way so that the dict
+        given to ``requests`` can be reused verbatim as the expectation.
+
+        This mirrors how ``requests`` builds the query string: it iterates a
+        sequence value once, drops a ``None`` element, and then hands the
+        result to ``urlencode(..., doseq=True)``, which splices a nested
+        sequence in one further level. Anything deeper is url-encoded by
+        ``requests`` as its ``str()`` and is left alone here.
+
+        A mapping is iterated too, which yields its keys, so
+        ``{"attrs": {"counter": 3}}`` is sent as ``attrs=counter`` and the
+        values never reach the query string. It is treated here as the
+        sequence of its keys for the same reason.
+
+        A value that contributes nothing to the query string returns ``_DROP``
+        so the key can be removed, because ``requests`` omits the key entirely
+        rather than sending it empty. That covers ``None``, an empty sequence
+        and a sequence of nothing but ``None``. An empty string is not one of
+        these: ``{"a": ""}`` is sent as ``a=``, and ``0`` and ``False`` are
+        sent as themselves, so emptiness here is never truthiness.
+        """
+        if value is None:
+            return _DROP
+        if isinstance(value, Mapping):
+            value = list(value)
+        if not isinstance(value, (list, tuple)):
+            return _stringify(value)
+
+        values: List[Any] = []
+        for item in value:
+            if item is None:
+                # ``requests`` omits a ``None`` element from the sequence it
+                # iterates. One level deeper is a different rule: that splice is
+                # done by ``urlencode``, which renders a ``None`` there as the
+                # string ``"None"``, so only this level drops it.
+                continue
+            if isinstance(item, Mapping):
+                item = list(item)
+            if isinstance(item, (list, tuple)):
+                values.extend(_stringify(nested) for nested in item)
+            else:
+                values.append(_stringify(item))
+        if not values:
+            return _DROP
+        return values[0] if len(values) == 1 else values
+
+    params_dict = (
+        {
+            k: normalized
+            for k, v in params.items()
+            if (normalized := _normalize(v)) is not _DROP
+        }
+        if params
+        else {}
+    )
 
     def match(request: PreparedRequest) -> Tuple[bool, str]:
         reason = ""
diff --git a/responses/tests/test_matchers.py b/responses/tests/test_matchers.py
index 4f67810c..3dffebc0 100644
--- a/responses/tests/test_matchers.py
+++ b/responses/tests/test_matchers.py
@@ -464,6 +464,119 @@ def run():
     assert_reset()
 
 
+@pytest.mark.parametrize(
+    "expected_query_params",
+    [
+        {"ids": None},
+        {"ids": []},
+        {"ids": [None]},
+        {"ids": [None, None]},
+        {"attrs": {}},
+        {"a": "", "ids": None},
+        {"a": 0},
+        {"a": False},
+    ],
+)
+def test_query_params_sending_nothing(expected_query_params):  # type: ignore[misc]
+    """A ``params`` value can contribute nothing to the query string.
+
+    ``requests`` omits the key outright for ``None`` and for a sequence that
+    yields no elements, rather than sending it with an empty value, so the
+    matcher has to drop it as well. Emptiness here is not truthiness: ``""``
+    is sent as ``a=``, and ``0`` and ``False`` are sent as themselves.
+    """
+
+    @responses.activate
+    def run():
+        responses.add(
+            responses.GET,
+            "https://example.com/",
+            match=[
+                matchers.query_param_matcher(expected_query_params),
+            ],
+        )
+        requests.get("https://example.com", params=expected_query_params)
+
+    run()
+    assert_reset()
+
+
+@pytest.mark.parametrize(
+    "expected_query_params",
+    [
+        {"ids": [1, 2]},
+        {"ids": (1, 2)},
+        {"ids": ["a", 2], "page": 1},
+        {"ids": [1, 2], "attrs": {"counter": 3, "favorites": [1, 2]}},
+        {"ids": [1]},
+        {"ids": ("a",)},
+        {"ids": [b"x"]},
+        {"ids": [{"k": 1}]},
+        {"ids": [[1, [2, 3]]]},
+        {"ids": [[None, 1]]},
+        {"ids": [[b"x", 1]]},
+        {"ids": [[{"k": 1}]]},
+    ],
+)
+def test_query_params_sequences(expected_query_params):  # type: ignore[misc]
+    """A ``params`` value may be a sequence, which sends the key repeatedly.
+
+    A mapping counts as one: ``requests`` iterates it, so only its keys are
+    sent.
+
+    One level deeper is a different rule, because that splice is done by
+    ``urlencode`` rather than by ``requests``: a nested sequence is spliced in,
+    anything left below that is sent as its ``str()``, and a ``None`` there
+    becomes the string ``"None"`` instead of being dropped.
+    """
+
+    @responses.activate
+    def run():
+        responses.add(
+            responses.GET,
+            "https://example.com/",
+            match=[
+                matchers.query_param_matcher(expected_query_params),
+            ],
+        )
+        requests.get("https://example.com", params=expected_query_params)
+
+    run()
+    assert_reset()
+
+
+@pytest.mark.parametrize(
+    "expected_query_params",
+    [
+        {"ids": [[1, 2], [3]]},
+        {"ids": [[1, 2]], "page": 1},
+        {"ids": [1, None]},
+        {"ids": [None, "a", 2]},
+    ],
+)
+def test_query_params_nested_sequences(expected_query_params):  # type: ignore[misc]
+    """``requests`` flattens a nested sequence and drops a ``None`` element.
+
+    ``urlencode(..., doseq=True)`` splices a sequence inside a sequence value
+    into the query string one level deep, and ``requests`` omits a ``None``
+    element entirely, so both are normalized the same way here.
+    """
+
+    @responses.activate
+    def run():
+        responses.add(
+            responses.GET,
+            "https://example.com/",
+            match=[
+                matchers.query_param_matcher(expected_query_params),
+            ],
+        )
+        requests.get("https://example.com", params=expected_query_params)
+
+    run()
+    assert_reset()
+
+
 def test_query_param_matcher_does_not_mutate_input():
     """query_param_matcher must not modify the caller's params dict.