TLDR;
Yes, you may use the colon character, ":" as a general delimiter within the query component of a URI.
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http://www.ietf.org/rfc/rfc3986.txt
2.2. Reserved Characters
URIs include components and subcomponents that are delimited by
characters in the "reserved" set. These characters are called
"reserved" because they may (or may not) be defined as delimiters by
the generic syntax, by each scheme-specific syntax, or by the
implementation-specific syntax of a URI's dereferencing algorithm.
If data for a URI component would conflict with a reserved
character's purpose as a delimiter, then the conflicting data must be
percent-encoded before the URI is formed.
reserved = gen-delims / sub-delims
gen-delims = ":" / "/" / "?" / "#" / "[" / "]" / "@"
sub-delims = "!" / "$" / "&" / "'" / "(" / ")"
/ "*" / "+" / "," / ";" / "="
The purpose of reserved characters is to provide a set of delimiting
characters that are distinguishable from other data within a URI.
URIs that differ in the replacement of a reserved character with its
corresponding percent-encoded octet are not equivalent. Percent-
encoding a reserved character, or decoding a percent-encoded octet
that corresponds to a reserved character, will change how the URI is
interpreted by most applications. Thus, characters in the reserved
set are protected from normalization and are therefore safe to be
used by scheme-specific and producer-specific algorithms for
delimiting data subcomponents within a URI.
A subset of the reserved characters (gen-delims) is used as
delimiters of the generic URI components described in Section 3. A
component's ABNF syntax rule will not use the reserved or gen-delims
rule names directly; instead, each syntax rule lists the characters
allowed within that component (i.e., not delimiting it), and any of
those characters that are also in the reserved set are "reserved" for
use as subcomponent delimiters within the component. Only the most
common subcomponents are defined by this specification; other
subcomponents may be defined by a URI scheme's specification, or by
the implementation-specific syntax of a URI's dereferencing
algorithm, provided that such subcomponents are delimited by
characters in the reserved set allowed within that component.
3. Syntax Components
The generic URI syntax consists of a hierarchical sequence of
components referred to as the scheme, authority, path, query, and
fragment.
URI = scheme ":" hier-part [ "?" query ] [ "#" fragment ]