diff --git a/packages/taro-router/src/api.ts b/packages/taro-router/src/api.ts
index 217cc1195582..fb57563476fe 100644
--- a/packages/taro-router/src/api.ts
+++ b/packages/taro-router/src/api.ts
@@ -57,9 +57,8 @@ async function navigate (option: Option | NavigateBackOption, method: MethodName
         const state = { timestamp: Date.now() }
         if (pathPieces.pathname) {
           const originPath = routesAlias.getOrigin(pathPieces.pathname)
-          const pagePath = originPath.startsWith('/') ? originPath.substring(1) : originPath
-          if (!RouterConfig.pages.includes(pagePath)) {
-            const res = { errMsg: `${method}:fail page ${pagePath} is not found` }
+          if (!RouterConfig.isPage(addLeadingSlash(originPath))) {
+            const res = { errMsg: `${method}:fail page ${originPath} is not found` }
             fail?.(res)
             complete?.(res)
             if (fail || complete) {
diff --git a/packages/taro-router/src/history.ts b/packages/taro-router/src/history.ts
index 485d34e30ce8..8ab4942c4be2 100644
--- a/packages/taro-router/src/history.ts
+++ b/packages/taro-router/src/history.ts
@@ -1,5 +1,5 @@
 import { Action, createBrowserHistory, createHashHistory } from 'history'
-
+import { addLeadingSlash } from '@tarojs/runtime'
 import { RouterConfig } from './router'
 
 import type { IH5RouterConfig } from '@tarojs/taro/types/compile'
@@ -28,7 +28,7 @@ class MpaHistory implements History {
 
   parseUrl (to: Partial<Path>) {
     let url = to.pathname || ''
-    if (RouterConfig.isPage(url)) {
+    if (RouterConfig.isPage(addLeadingSlash(url))) {
       url += '.html'
     }
     if (to.search) {
diff --git a/packages/taro-router/src/router/index.ts b/packages/taro-router/src/router/index.ts
index f3335b1c49f5..b99ffca1f0ab 100644
--- a/packages/taro-router/src/router/index.ts
+++ b/packages/taro-router/src/router/index.ts
@@ -1,4 +1,4 @@
-import { addLeadingSlash } from '@tarojs/runtime'
+import { addLeadingSlash, stripBasename } from '@tarojs/runtime'
 
 import type { MpaRouterConfig, SpaRouterConfig } from '../../types/router'
 
@@ -28,6 +28,7 @@ export class RouterConfig {
   static get customRoutes () { return this.router.customRoutes || {} }
 
   static isPage (url = '') {
-    return this.pages.findIndex(e => addLeadingSlash(e) === url) !== -1
+    if (this.router.basename) url = stripBasename(url, this.router.basename)
+    return this.pages.findIndex(e => addLeadingSlash(e) === addLeadingSlash(url)) !== -1
   }
 }