diff --git a/docs/CHANGELOG.md b/docs/CHANGELOG.md
index 2c82f91e4..767efcc4b 100644
--- a/docs/CHANGELOG.md
+++ b/docs/CHANGELOG.md
@@ -15,6 +15,7 @@ The following tip changes can be tested by building VictoriaMetrics components f
 
 ## v1.79.x long-time support release (LTS)
 
+* BUGFIX: [vmagent](https://docs.victoriametrics.com/vmagent.html): [dockerswarm_sd_configs](https://docs.victoriametrics.com/sd_configs.html#dockerswarm_sd_configs): properly encode `filters` field. See [this issue](https://github.com/VictoriaMetrics/VictoriaMetrics/issues/3579)
 * BUGFIX: allow specifying values bigger than 2GiB to the following command-line flag values on 32-bit architectures (`386` and `arm`): `-storage.minFreeDiskSpaceBytes` and `-remoteWrite.maxDiskUsagePerURL`. Previously values bigger than 2GiB were incorrectly truncated on these architectures.
 * BUGFIX: [VictoriaMetrics enterprise](https://docs.victoriametrics.com/enterprise.html): expose proper values for `vm_downsampling_partitions_scheduled` and `vm_downsampling_partitions_scheduled_size_bytes` metrics, which were added at [v1.78.0](https://docs.victoriametrics.com/CHANGELOG.html#v1780). See [this feature request](https://github.com/VictoriaMetrics/VictoriaMetrics/issues/2612).
 * BUGFIX: [DataDog protocol parser](https://docs.victoriametrics.com/#how-to-send-data-from-datadog-agent): do not re-use `host` and `device` fields from the previously parsed messages if these fields are missing in the currently parsed message. See [this issue](https://github.com/VictoriaMetrics/VictoriaMetrics/issues/3432).
diff --git a/lib/promscrape/discovery/dockerswarm/api.go b/lib/promscrape/discovery/dockerswarm/api.go
index d0bb79cef..35d2ab974 100644
--- a/lib/promscrape/discovery/dockerswarm/api.go
+++ b/lib/promscrape/discovery/dockerswarm/api.go
@@ -63,20 +63,16 @@ func (cfg *apiConfig) getAPIResponse(path string) ([]byte, error) {
 	return cfg.client.GetAPIResponse(path)
 }
 
+// Encodes filters as `map[string][]string` and then marshals it to JSON.
+// Reference: https://docs.docker.com/engine/api/v1.41/#tag/Task
 func getFiltersQueryArg(filters []Filter) string {
 	if len(filters) == 0 {
 		return ""
 	}
-	m := make(map[string]map[string]bool)
+
+	m := make(map[string][]string)
 	for _, f := range filters {
-		x := m[f.Name]
-		if x == nil {
-			x = make(map[string]bool)
-			m[f.Name] = x
-		}
-		for _, value := range f.Values {
-			x[value] = true
-		}
+		m[f.Name] = f.Values
 	}
 	buf, err := json.Marshal(m)
 	if err != nil {
diff --git a/lib/promscrape/discovery/dockerswarm/api_test.go b/lib/promscrape/discovery/dockerswarm/api_test.go
index fc8888ee5..114ec43a4 100644
--- a/lib/promscrape/discovery/dockerswarm/api_test.go
+++ b/lib/promscrape/discovery/dockerswarm/api_test.go
@@ -22,5 +22,11 @@ func TestGetFiltersQueryArg(t *testing.T) {
 			Name:   "xxx",
 			Values: []string{"aa"},
 		},
-	}, "%7B%22name%22%3A%7B%22bar%22%3Atrue%2C%22foo%22%3Atrue%7D%2C%22xxx%22%3A%7B%22aa%22%3Atrue%7D%7D")
+	}, "%7B%22name%22%3A%5B%22foo%22%2C%22bar%22%5D%2C%22xxx%22%3A%5B%22aa%22%5D%7D")
+	f([]Filter{
+		{
+			Name:   "desired-state",
+			Values: []string{"running", "shutdown"},
+		},
+	}, "%7B%22desired-state%22%3A%5B%22running%22%2C%22shutdown%22%5D%7D")
 }