diff --git a/packages/vue-app/template/index.js b/packages/vue-app/template/index.js
index 765c543a35..409a582431 100644
--- a/packages/vue-app/template/index.js
+++ b/packages/vue-app/template/index.js
@@ -246,9 +246,13 @@ async function createApp(ssrContext, config = {}) {
   // If server-side, wait for async component to be resolved first
   if (process.server && ssrContext && ssrContext.url) {
     await new Promise((resolve, reject) => {
-      router.push(ssrContext.url, resolve, () => {
+      router.push(ssrContext.url, resolve, (err) => {
+        // https://github.com/vuejs/vue-router/blob/v3.3.4/src/history/errors.js
+        if (!err._isRouter) return reject(err)
+        if (err.type !== 1 /* NavigationFailureType.redirected */) return resolve()
+
         // navigated to a different route in router guard
-        const unregister = router.afterEach(async (to, from, next) => {
+        const unregister = router.afterEach(async (to, from) => {
           ssrContext.url = to.fullPath
           app.context.route = await getRouteData(to)
           app.context.params = to.params || {}
diff --git a/test/dev/basic.ssr.test.js b/test/dev/basic.ssr.test.js
index b2a47737a2..567c1536d1 100644
--- a/test/dev/basic.ssr.test.js
+++ b/test/dev/basic.ssr.test.js
@@ -350,6 +350,27 @@ describe('basic ssr', () => {
     expect(html.includes('Router Guard')).toBe(false)
   })
 
+  test('/router-guard-error', async () => {
+    const { html, error } = await nuxt.server.renderRoute('/router-guard-error')
+
+    expect(error).toBe(null)
+    expect(html.includes('Page content')).toBe(false)
+  })
+
+  test('/router-guard-error?error=zepe', async () => {
+    const { html, error } = await nuxt.server.renderRoute('/router-guard-error?error=zepe')
+
+    expect(html.includes('Page content')).toBe(false)
+    expect(html).toContain('zepe')
+    expect(error.message).toContain('zepe')
+    expect(error.statusCode).toBe(500)
+  })
+
+  test('/router-guard-error?throw=ezae', async () => {
+    await expect(nuxt.server.renderRoute('/router-guard-error?throw=ezae'))
+      .rejects.toMatchObject({ message: 'ezae' })
+  })
+
   test('/jsx', async () => {
     const { html } = await nuxt.server.renderRoute('/jsx')
     expect(html).toContain('<h1>JSX Page</h1>')
diff --git a/test/fixtures/basic/nuxt.config.js b/test/fixtures/basic/nuxt.config.js
index 02e7379167..948d57c534 100644
--- a/test/fixtures/basic/nuxt.config.js
+++ b/test/fixtures/basic/nuxt.config.js
@@ -70,6 +70,7 @@ export default {
   plugins: [
     '~/plugins/vuex-module',
     '~/plugins/dir-plugin',
+    '~/plugins/router-guard',
     '~/plugins/inject'
   ],
   serverMiddleware: [
diff --git a/test/fixtures/basic/pages/router-guard-error.vue b/test/fixtures/basic/pages/router-guard-error.vue
new file mode 100644
index 0000000000..7eadbc093f
--- /dev/null
+++ b/test/fixtures/basic/pages/router-guard-error.vue
@@ -0,0 +1,3 @@
+<template>
+  <div>Page content</div>
+</template>
diff --git a/test/fixtures/basic/plugins/router-guard.js b/test/fixtures/basic/plugins/router-guard.js
new file mode 100644
index 0000000000..e0faf0eba8
--- /dev/null
+++ b/test/fixtures/basic/plugins/router-guard.js
@@ -0,0 +1,17 @@
+export default function ({ app, error }) {
+  app.router.beforeEach((to, from, next) => {
+    if (to.path !== '/router-guard-error') {
+      return next()
+    }
+
+    if (to.query.error) {
+      error(new Error(to.query.error))
+    }
+
+    if (to.query.throw) {
+      next(new Error(to.query.throw))
+    } else {
+      next(false)
+    }
+  })
+}