diff --git a/sphinx/writers/texinfo.py b/sphinx/writers/texinfo.py
index fd0c244d3..63c7d2af8 100644
--- a/sphinx/writers/texinfo.py
+++ b/sphinx/writers/texinfo.py
@@ -387,6 +387,9 @@ class TexinfoTranslator(nodes.NodeVisitor):
         bad_chars = ',:()'
         for bc in bad_chars:
             s = s.replace(bc, ' ')
+        if re.search('[^ .]', s):
+            # remove DOTs if name contains other characters
+            s = s.replace('.', ' ')
         s = ' '.join(s.split()).strip()
         return self.escape(s)
 
diff --git a/tests/test_build_texinfo.py b/tests/test_build_texinfo.py
index a1987689b..93e10d758 100644
--- a/tests/test_build_texinfo.py
+++ b/tests/test_build_texinfo.py
@@ -110,5 +110,5 @@ def test_texinfo_escape_id(app, status, warning):
     assert translator.escape_id('Hello   Sphinx   world') == 'Hello Sphinx world'
     assert translator.escape_id('Hello:world') == 'Hello world'
     assert translator.escape_id('Hello(world)') == 'Hello world'
-    assert translator.escape_id('Hello world.') == 'Hello world.'
+    assert translator.escape_id('Hello world.') == 'Hello world'
     assert translator.escape_id('.') == '.'