We study how symmetry can enrich strong-randomness quantum critical points and phases, and lead to robust topological edge modes coexisting with critical bulk fluctuations. These are the disordered analogues of gapless topological phases. Using real-space and density matrix renormalization group approaches, we analyze the boundary and bulk critical behavior of such symmetry-enriched random quantum spin chains. We uncover a new class of symmetry-enriched infinite randomness fixed points: while local bulk properties are indistinguishable from conventional random singlet phases, nonlocal observables and boundary critical behavior are controlled by a different renormalization group fixed point. We also illustrate how such new quantum critical points emerge naturally in Floquet systems.