diff --git a/packages/nuxt/src/pages/utils.ts b/packages/nuxt/src/pages/utils.ts
index 8065598b7a..8c364e98fc 100644
--- a/packages/nuxt/src/pages/utils.ts
+++ b/packages/nuxt/src/pages/utils.ts
@@ -72,7 +72,7 @@ export function generateRoutesFromFiles (files: string[], pagesDir: string): Nux
       const segmentName = tokens.map(({ value }) => value).join('')
 
       // ex: parent/[slug].vue -> parent-slug
-      route.name += (route.name && '-') + segmentName
+      route.name += (route.name && '/') + segmentName
 
       // ex: parent.vue + parent/child.vue
       const child = parent.find(parentRoute => parentRoute.name === route.name && !parentRoute.path.endsWith('(.*)*'))
@@ -200,11 +200,28 @@ function parseSegment (segment: string) {
   return tokens
 }
 
-function prepareRoutes (routes: NuxtPage[], parent?: NuxtPage) {
+function findRouteByName (name: string, routes: NuxtPage[]): NuxtPage | undefined {
+  for (const route of routes) {
+    if (route.name === name) {
+      return route
+    }
+  }
+  return findRouteByName(name, routes)
+}
+
+function prepareRoutes (routes: NuxtPage[], parent?: NuxtPage, names = new Set<string>()) {
   for (const route of routes) {
     // Remove -index
     if (route.name) {
-      route.name = route.name.replace(/-index$/, '')
+      route.name = route.name
+        .replace(/\/index$/, '')
+        .replace(/\//g, '-')
+
+      if (names.has(route.name)) {
+        const existingRoute = findRouteByName(route.name, routes)
+        const extra = existingRoute?.name ? `is the same as \`${existingRoute.file}\`` : 'is a duplicate'
+        console.warn(`[nuxt] Route name generated for \`${route.file}\` ${extra}. You may wish to set a custom name using \`definePageMeta\` within the page file.`)
+      }
     }
 
     // Remove leading / if children route
@@ -213,12 +230,16 @@ function prepareRoutes (routes: NuxtPage[], parent?: NuxtPage) {
     }
 
     if (route.children?.length) {
-      route.children = prepareRoutes(route.children, route)
+      route.children = prepareRoutes(route.children, route, names)
     }
 
     if (route.children?.find(childRoute => childRoute.path === '')) {
       delete route.name
     }
+
+    if (route.name) {
+      names.add(route.name)
+    }
   }
 
   return routes
diff --git a/packages/nuxt/test/pages.test.ts b/packages/nuxt/test/pages.test.ts
index f4dcd4fafb..2684e412a0 100644
--- a/packages/nuxt/test/pages.test.ts
+++ b/packages/nuxt/test/pages.test.ts
@@ -55,6 +55,27 @@ describe('pages:generateRoutesFromFiles', () => {
         }
       ]
     },
+    {
+      description: 'should not generate colliding route names when hyphens are in file name',
+      files: [
+        `${pagesDir}/parent/[child].vue`,
+        `${pagesDir}/parent-[child].vue`
+      ],
+      output: [
+        {
+          name: 'parent-child',
+          path: '/parent/:child',
+          file: `${pagesDir}/parent/[child].vue`,
+          children: []
+        },
+        {
+          name: 'parent-child',
+          path: '/parent-:child',
+          file: `${pagesDir}/parent-[child].vue`,
+          children: []
+        }
+      ]
+    },
     {
       description: 'should generate correct id for catchall (order 1)',
       files: [