diff --git a/.changeset/navigate-in-effect.md b/.changeset/navigate-in-effect.md
new file mode 100644
index 0000000000..bffcb59964
--- /dev/null
+++ b/.changeset/navigate-in-effect.md
@@ -0,0 +1,5 @@
+---
+"react-router": patch
+---
+
+Fix detection of `useNavigate` in the render cycle by setting the `activeRef` in a layout effect, allowing the `navigate` function to be passed to child components and called in a `useEffect` there.
diff --git a/package.json b/package.json
index f0d70a7e3e..f86805f9ae 100644
--- a/package.json
+++ b/package.json
@@ -108,10 +108,10 @@
       "none": "45.8 kB"
     },
     "packages/react-router/dist/react-router.production.min.js": {
-      "none": "13 kB"
+      "none": "13.1 kB"
     },
     "packages/react-router/dist/umd/react-router.production.min.js": {
-      "none": "15.3 kB"
+      "none": "15.4 kB"
     },
     "packages/react-router-dom/dist/react-router-dom.production.min.js": {
       "none": "12 kB"
diff --git a/packages/react-router/__tests__/useNavigate-test.tsx b/packages/react-router/__tests__/useNavigate-test.tsx
index cd9d9d2433..6c601a82c5 100644
--- a/packages/react-router/__tests__/useNavigate-test.tsx
+++ b/packages/react-router/__tests__/useNavigate-test.tsx
@@ -301,6 +301,211 @@ describe("useNavigate", () => {
     );
   });
 
+  describe("navigating in effects versus render", () => {
+    let warnSpy: jest.SpyInstance;
+
+    beforeEach(() => {
+      warnSpy = jest.spyOn(console, "warn").mockImplementation(() => {});
+    });
+
+    afterEach(() => {
+      warnSpy.mockRestore();
+    });
+
+    describe("MemoryRouter", () => {
+      it("does not allow navigation from the render cycle", () => {
+        let renderer: TestRenderer.ReactTestRenderer;
+        TestRenderer.act(() => {
+          renderer = TestRenderer.create(
+            <MemoryRouter>
+              <Routes>
+                <Route index element={<Home />} />
+                <Route path="about" element={<h1>About</h1>} />
+              </Routes>
+            </MemoryRouter>
+          );
+        });
+
+        function Home() {
+          let navigate = useNavigate();
+          navigate("/about");
+          return <h1>Home</h1>;
+        }
+
+        // @ts-expect-error
+        expect(renderer.toJSON()).toMatchInlineSnapshot(`
+          <h1>
+            Home
+          </h1>
+        `);
+        expect(warnSpy).toHaveBeenCalledWith(
+          "You should call navigate() in a React.useEffect(), not when your component is first rendered."
+        );
+      });
+
+      it("allows navigation from effects", () => {
+        let renderer: TestRenderer.ReactTestRenderer;
+        TestRenderer.act(() => {
+          renderer = TestRenderer.create(
+            <MemoryRouter>
+              <Routes>
+                <Route index element={<Home />} />
+                <Route path="about" element={<h1>About</h1>} />
+              </Routes>
+            </MemoryRouter>
+          );
+        });
+
+        function Home() {
+          let navigate = useNavigate();
+          React.useEffect(() => navigate("/about"), [navigate]);
+          return <h1>Home</h1>;
+        }
+
+        // @ts-expect-error
+        expect(renderer.toJSON()).toMatchInlineSnapshot(`
+          <h1>
+            About
+          </h1>
+        `);
+        expect(warnSpy).not.toHaveBeenCalled();
+      });
+
+      it("allows navigation in child useEffects", () => {
+        let renderer: TestRenderer.ReactTestRenderer;
+        TestRenderer.act(() => {
+          renderer = TestRenderer.create(
+            <MemoryRouter initialEntries={["/home"]}>
+              <Routes>
+                <Route path="home" element={<Parent />} />
+                <Route path="about" element={<h1>About</h1>} />
+              </Routes>
+            </MemoryRouter>
+          );
+        });
+
+        function Parent() {
+          let navigate = useNavigate();
+          let onChildRendered = React.useCallback(
+            () => navigate("/about"),
+            [navigate]
+          );
+          return <Child onChildRendered={onChildRendered} />;
+        }
+
+        function Child({ onChildRendered }) {
+          React.useEffect(() => onChildRendered());
+          return null;
+        }
+
+        // @ts-expect-error
+        expect(renderer.toJSON()).toMatchInlineSnapshot(`
+          <h1>
+            About
+          </h1>
+        `);
+      });
+    });
+
+    describe("RouterProvider", () => {
+      it("does not allow navigation from the render cycle", async () => {
+        let router = createMemoryRouter([
+          {
+            index: true,
+            Component() {
+              let navigate = useNavigate();
+              navigate("/about");
+              return <h1>Home</h1>;
+            },
+          },
+          {
+            path: "about",
+            element: <h1>About</h1>,
+          },
+        ]);
+        let renderer: TestRenderer.ReactTestRenderer;
+        TestRenderer.act(() => {
+          renderer = TestRenderer.create(<RouterProvider router={router} />);
+        });
+
+        // @ts-expect-error
+        expect(renderer.toJSON()).toMatchInlineSnapshot(`
+          <h1>
+            Home
+          </h1>
+        `);
+        expect(warnSpy).toHaveBeenCalledWith(
+          "You should call navigate() in a React.useEffect(), not when your component is first rendered."
+        );
+      });
+
+      it("allows navigation from effects", () => {
+        let router = createMemoryRouter([
+          {
+            index: true,
+            Component() {
+              let navigate = useNavigate();
+              React.useEffect(() => navigate("/about"), [navigate]);
+              return <h1>Home</h1>;
+            },
+          },
+          {
+            path: "about",
+            element: <h1>About</h1>,
+          },
+        ]);
+        let renderer: TestRenderer.ReactTestRenderer;
+        TestRenderer.act(() => {
+          renderer = TestRenderer.create(<RouterProvider router={router} />);
+        });
+
+        // @ts-expect-error
+        expect(renderer.toJSON()).toMatchInlineSnapshot(`
+          <h1>
+            About
+          </h1>
+        `);
+        expect(warnSpy).not.toHaveBeenCalled();
+      });
+
+      it("allows navigation in child useEffects", () => {
+        let router = createMemoryRouter([
+          {
+            index: true,
+            Component() {
+              let navigate = useNavigate();
+              let onChildRendered = React.useCallback(
+                () => navigate("/about"),
+                [navigate]
+              );
+              return <Child onChildRendered={onChildRendered} />;
+            },
+          },
+          {
+            path: "about",
+            element: <h1>About</h1>,
+          },
+        ]);
+        let renderer: TestRenderer.ReactTestRenderer;
+        TestRenderer.act(() => {
+          renderer = TestRenderer.create(<RouterProvider router={router} />);
+        });
+
+        function Child({ onChildRendered }) {
+          React.useEffect(() => onChildRendered());
+          return null;
+        }
+
+        // @ts-expect-error
+        expect(renderer.toJSON()).toMatchInlineSnapshot(`
+          <h1>
+            About
+          </h1>
+        `);
+      });
+    });
+  });
+
   describe("with state", () => {
     it("adds the state to location.state", () => {
       function Home() {
diff --git a/packages/react-router/lib/hooks.tsx b/packages/react-router/lib/hooks.tsx
index e21e533195..be846ef51a 100644
--- a/packages/react-router/lib/hooks.tsx
+++ b/packages/react-router/lib/hooks.tsx
@@ -150,6 +150,23 @@ export interface NavigateFunction {
   (delta: number): void;
 }
 
+const navigateEffectWarning =
+  `You should call navigate() in a React.useEffect(), not when ` +
+  `your component is first rendered.`;
+
+// Mute warnings for calls to useNavigate in SSR environments
+function useIsomorphicLayoutEffect(
+  cb: Parameters<typeof React.useLayoutEffect>[0]
+) {
+  let isStatic = React.useContext(NavigationContext).static;
+  if (!isStatic) {
+    // We should be able to get rid of this once react 18.3 is released
+    // See: https://github.com/facebook/react/pull/26395
+    // eslint-disable-next-line react-hooks/rules-of-hooks
+    React.useLayoutEffect(cb);
+  }
+}
+
 /**
  * Returns an imperative method for changing the location. Used by <Link>s, but
  * may also be used by other elements to change the location.
@@ -180,18 +197,16 @@ function useNavigateUnstable(): NavigateFunction {
   );
 
   let activeRef = React.useRef(false);
-  React.useEffect(() => {
+  useIsomorphicLayoutEffect(() => {
     activeRef.current = true;
   });
 
   let navigate: NavigateFunction = React.useCallback(
     (to: To | number, options: NavigateOptions = {}) => {
-      warning(
-        activeRef.current,
-        `You should call navigate() in a React.useEffect(), not when ` +
-          `your component is first rendered.`
-      );
+      warning(activeRef.current, navigateEffectWarning);
 
+      // Short circuit here since if this happens on first render the navigate
+      // is useless because we haven't wired up our history listener yet
       if (!activeRef.current) return;
 
       if (typeof to === "number") {
@@ -931,8 +946,19 @@ function useNavigateStable(): NavigateFunction {
   let { router } = useDataRouterContext(DataRouterHook.UseNavigateStable);
   let id = useCurrentRouteId(DataRouterStateHook.UseNavigateStable);
 
+  let activeRef = React.useRef(false);
+  useIsomorphicLayoutEffect(() => {
+    activeRef.current = true;
+  });
+
   let navigate: NavigateFunction = React.useCallback(
     (to: To | number, options: NavigateOptions = {}) => {
+      warning(activeRef.current, navigateEffectWarning);
+
+      // Short circuit here since if this happens on first render the navigate
+      // is useless because we haven't wired up our router subscriber yet
+      if (!activeRef.current) return;
+
       if (typeof to === "number") {
         router.navigate(to);
       } else {