diff --git a/packages/flutter/lib/src/widgets/navigator.dart b/packages/flutter/lib/src/widgets/navigator.dart
index 89389b3285..0400f847a2 100644
--- a/packages/flutter/lib/src/widgets/navigator.dart
+++ b/packages/flutter/lib/src/widgets/navigator.dart
@@ -4450,10 +4450,30 @@ class NavigatorState extends State<Navigator> with TickerProviderStateMixin, Res
   ///    state restoration.
   @optionalTypeArgs
   Future<T?> push<T extends Object?>(Route<T> route) {
+    assert(_debugCheckIsPagelessRoute(route));
     _pushEntry(_RouteEntry(route, initialState: _RouteLifecycle.push));
     return route.popped;
   }
 
+  bool _debugCheckIsPagelessRoute(Route<dynamic> route) {
+    assert((){
+      if (route.settings is Page) {
+        FlutterError.reportError(
+          FlutterErrorDetails(
+            exception: FlutterError(
+              'A page-based route should not be added using the imperative api. '
+              'Provide a new list with the corresponding Page to Navigator.pages instead.'
+            ),
+            library: 'widget library',
+            stack: StackTrace.current,
+          ),
+        );
+      }
+      return true;
+    }());
+    return true;
+  }
+
   bool _debugIsStaticCallback(Function callback) {
     bool result = false;
     assert(() {
@@ -4596,6 +4616,7 @@ class NavigatorState extends State<Navigator> with TickerProviderStateMixin, Res
   Future<T?> pushReplacement<T extends Object?, TO extends Object?>(Route<T> newRoute, { TO? result }) {
     assert(newRoute != null);
     assert(newRoute._navigator == null);
+    assert(_debugCheckIsPagelessRoute(newRoute));
     _pushReplacementEntry(_RouteEntry(newRoute, initialState: _RouteLifecycle.pushReplace), result);
     return newRoute.popped;
   }
@@ -4703,6 +4724,7 @@ class NavigatorState extends State<Navigator> with TickerProviderStateMixin, Res
     assert(newRoute != null);
     assert(newRoute._navigator == null);
     assert(newRoute.overlayEntries.isEmpty);
+    assert(_debugCheckIsPagelessRoute(newRoute));
     _pushEntryAndRemoveUntil(_RouteEntry(newRoute, initialState: _RouteLifecycle.push), predicate);
     return newRoute.popped;
   }
diff --git a/packages/flutter/test/widgets/navigator_test.dart b/packages/flutter/test/widgets/navigator_test.dart
index 22faf4797a..a5aadc7100 100644
--- a/packages/flutter/test/widgets/navigator_test.dart
+++ b/packages/flutter/test/widgets/navigator_test.dart
@@ -2648,6 +2648,63 @@ void main() {
       );
     });
 
+    Widget _buildFrame(String action) {
+      const TestPage myPage = TestPage(key: ValueKey<String>('1'), name:'initial');
+      final Map<String, WidgetBuilder> routes = <String, WidgetBuilder>{
+        '/' : (BuildContext context) => OnTapPage(
+          id: action,
+          onTap: (){
+            if (action == 'push') {
+              Navigator.of(context).push(myPage.createRoute(context));
+            } else if (action == 'pushReplacement') {
+              Navigator.of(context).pushReplacement(myPage.createRoute(context));
+            } else if (action == 'pushAndRemoveUntil') {
+              Navigator.of(context).pushAndRemoveUntil(myPage.createRoute(context), (_) => true);
+            }
+          },
+        ),
+      };
+
+      return MaterialApp(routes: routes);
+    }
+
+    void _checkException(WidgetTester tester) {
+      final dynamic exception = tester.takeException();
+      expect(exception, isFlutterError);
+      final FlutterError error = exception as FlutterError;
+      expect(
+        error.toStringDeep(),
+        equalsIgnoringHashCodes(
+          'FlutterError\n'
+          '   A page-based route should not be added using the imperative api.\n'
+          '   Provide a new list with the corresponding Page to Navigator.pages\n'
+          '   instead.\n'
+          ''
+        ),
+      );
+    }
+
+    testWidgets('throw if add page-based route using the imperative api - push', (WidgetTester tester) async {
+      await tester.pumpWidget(_buildFrame('push'));
+      await tester.tap(find.text('push'));
+      await tester.pumpAndSettle();
+      _checkException(tester);
+    });
+
+    testWidgets('throw if add page-based route using the imperative api - pushReplacement', (WidgetTester tester) async {
+      await tester.pumpWidget(_buildFrame('pushReplacement'));
+      await tester.tap(find.text('pushReplacement'));
+      await tester.pumpAndSettle();
+      _checkException(tester);
+    });
+
+    testWidgets('throw if add page-based route using the imperative api - pushAndRemoveUntil', (WidgetTester tester) async {
+      await tester.pumpWidget(_buildFrame('pushAndRemoveUntil'));
+      await tester.tap(find.text('pushAndRemoveUntil'));
+      await tester.pumpAndSettle();
+      _checkException(tester);
+    });
+
     testWidgets('throw if page list is empty', (WidgetTester tester) async {
       final List<TestPage> myPages = <TestPage>[];
       final FlutterExceptionHandler? originalOnError = FlutterError.onError;