diff --git a/packages/taro-router/src/api.ts b/packages/taro-router/src/api.ts
index fbbdbbf433f6..738bea49f147 100644
--- a/packages/taro-router/src/api.ts
+++ b/packages/taro-router/src/api.ts
@@ -31,6 +31,9 @@ function processNavigateUrlWithRelativePath (option: Option): Partial<Path> {
     pathPieces.pathname = parts.join('/')
   }
 
+  // 确保是 / 开头的路径
+  pathPieces.pathname = addLeadingSlash(pathPieces.pathname)
+
   // hack fix history v5 bug: https://github.com/remix-run/history/issues/814
   if (!pathPieces.search) pathPieces.search = ''
 
@@ -66,9 +69,11 @@ async function navigate (option: Option | NavigateBackOption, method: MethodName
 
     try {
       if ('url' in option) {
-        let pathPieces = processNavigateUrlWithRelativePath(option)
         // Note: 因为 RouterConfig.isPage 方法不对 customRoutes 和 basename 进行处理，所以这里也不处理
-        if (!RouterConfig.isPage(addLeadingSlash(pathPieces.pathname))) {
+        let pathPieces = processNavigateUrlWithRelativePath(option)
+        // Note: 这里还有判断一种情况，可能是直接跳转到自定义路由的页面，所以需要把 customRoute 转化为页面 router
+        const originPath = routesAlias.getOrigin(pathPieces.pathname)
+        if (!RouterConfig.isPage(pathPieces.pathname) && !RouterConfig.isPage(originPath)) {
           const res = { errMsg: `${method}:fail page ${option.url} is not found` }
           fail?.(res)
           complete?.(res)
diff --git a/packages/taro-router/src/router/navigation-bar.ts b/packages/taro-router/src/router/navigation-bar.ts
index 09b0bd903b7a..a17e26c071c0 100644
--- a/packages/taro-router/src/router/navigation-bar.ts
+++ b/packages/taro-router/src/router/navigation-bar.ts
@@ -90,7 +90,7 @@ export default class NavigationBarHandler {
   }
 
   setCacheValue () {
-    const currentPage = this.pageContext.currentPage
+    const currentPage = this.pageContext.originPathname
     if (typeof this.cache[currentPage] !== 'object') {
       this.cache[currentPage] = {}
     }
@@ -118,7 +118,7 @@ export default class NavigationBarHandler {
 
   setNavigationLoading (show?: boolean) {
     if (!this.navigationBarElement) return
-    const currentPage = this.pageContext.currentPage
+    const currentPage = this.pageContext.originPathname
     let isShow
     if (typeof show === 'boolean') {
       isShow = show
@@ -142,7 +142,7 @@ export default class NavigationBarHandler {
   setNavigationBarBackground (backgroundColor?: string) {
     if (!this.navigationBarElement) return
 
-    const currentPage = this.pageContext.currentPage
+    const currentPage = this.pageContext.originPathname
     let color
     if (typeof backgroundColor === 'string') {
       color = backgroundColor
@@ -164,7 +164,7 @@ export default class NavigationBarHandler {
   setNavigationBarTextStyle (fontColor?: string) {
     if (!this.navigationBarElement) return
 
-    const currentPage = this.pageContext.currentPage
+    const currentPage = this.pageContext.originPathname
     let color
     if (typeof fontColor === 'string') {
       color = fontColor
@@ -184,7 +184,7 @@ export default class NavigationBarHandler {
   }
 
   setTitle (title?) {
-    const currentPage = this.pageContext.currentPage
+    const currentPage = this.pageContext.originPathname
     let proceedTitle
     if (typeof title === 'string') {
       proceedTitle = title
diff --git a/packages/taro-router/src/router/page.ts b/packages/taro-router/src/router/page.ts
index 27652a824f21..29df44d7706f 100644
--- a/packages/taro-router/src/router/page.ts
+++ b/packages/taro-router/src/router/page.ts
@@ -66,14 +66,15 @@ export default class PageHandler {
 
   set pathname (p) { this.router.pathname = p }
   get pathname () { return this.router.pathname }
+  // Note: 把 pathname 转换为原始路径，主要是处理 customRoutes 和 basename
+  get originPathname () { return routesAlias.getOrigin(addLeadingSlash(stripBasename(this.pathname, this.basename))) }
   get basename () { return this.router.basename || '' }
 
   get pageConfig () {
-    const routePath = addLeadingSlash(stripBasename(this.pathname, this.basename))
     const homePage = addLeadingSlash(this.homePage)
     return this.routes.find(r => {
       const pagePath = addLeadingSlash(r.path)
-      return [pagePath, homePage].includes(routePath) || routesAlias.getConfig(pagePath)?.includes(routePath)
+      return [pagePath, homePage].includes(this.originPathname)
     })
   }