diff --git a/CHANGELOG.md b/CHANGELOG.md
index 38d5294721..ef293fdbb0 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -34,6 +34,7 @@ should change the heading of the (upcoming) version to include a major version b
 - Implemented programmatic validation via new `validateForm()` method on `Form`, fixing (https://github.com/rjsf-team/react-jsonschema-form/issues/2755, https://github.com/rjsf-team/react-jsonschema-form/issues/2552, https://github.com/rjsf-team/react-jsonschema-form/issues/2381, https://github.com/rjsf-team/react-jsonschema-form/issues/2343, https://github.com/rjsf-team/react-jsonschema-form/issues/1006, https://github.com/rjsf-team/react-jsonschema-form/issues/246)
 - Renamed `WithThemeProps` to `ThemeProps` to prevent another breaking-change by returning the type back to the name it had in version 4
 - Pass `uiSchema` appropriately to all of the `IconButton`s, `ArrayFieldItemTemplate` and `WrapIfAdditional` components, fixing (https://github.com/rjsf-team/react-jsonschema-form/issues/3130)
+- Updated `ArrayField` to fall back to `SchemaField` if `ArraySchemaField` is not defined, fixing (https://github.com/rjsf-team/react-jsonschema-form/issues/3131)
 
 ## @rjsf/fluent-ui
 - Updated `Theme` to use the renamed `ThemeProps` from `@rjsf/core`
@@ -62,6 +63,7 @@ should change the heading of the (upcoming) version to include a major version b
 - Fixed the `chakra-ui` custom `uiSchema` documentation to make it clear they work on a per-field basis, fixing (https://github.com/rjsf-team/react-jsonschema-form/issues/2865)
 - Added `formElement` breaking-change documentation to the `5.x upgrade guide.md`
 - Replace Webpack with Vite
+- Updated documentation for `ArraySchemaField` to better represent the updated implementation, fixing (https://github.com/rjsf-team/react-jsonschema-form/issues/3131)
 
 # 5.0.0-beta.8
 
diff --git a/docs/advanced-customization/custom-widgets-fields.md b/docs/advanced-customization/custom-widgets-fields.md
index 6dbaccfe97..227da21fff 100644
--- a/docs/advanced-customization/custom-widgets-fields.md
+++ b/docs/advanced-customization/custom-widgets-fields.md
@@ -356,8 +356,8 @@ Props passed to a custom SchemaField are the same as [the ones passed to a custo
 ### Custom ArraySchemaField
 
 Everything that was mentioned above for a `Custom SchemaField` applies, but this is only used to render the Array item `children` that are then passed to the `ArrayFieldItemTemplate`.
-By default, `ArraySchemaField` uses the main `SchemaField` implementation.
-If you want to customize how the individual items for an array are rendered, override the `ArraySchemaField`.
+By default, `ArraySchemaField` is not actually provided as `ArrayField` implementation fallsback to the `SchemaField` implementation.
+If you want to customize how the individual items for an array are rendered, provide your implementation of `ArraySchemaField` as a `fields` override.
 
 ```jsx
 import validator from '@rjsf/validator-ajv6';
diff --git a/packages/core/src/components/fields/ArrayField.tsx b/packages/core/src/components/fields/ArrayField.tsx
index 14bd27ed8d..1014044f62 100644
--- a/packages/core/src/components/fields/ArrayField.tsx
+++ b/packages/core/src/components/fields/ArrayField.tsx
@@ -805,8 +805,9 @@ class ArrayField<T = any, F = any> extends Component<
       formContext,
     } = this.props;
     const {
-      fields: { ArraySchemaField },
+      fields: { ArraySchemaField, SchemaField },
     } = registry;
+    const ItemSchemaField = ArraySchemaField || SchemaField;
     const { orderable = true, removable = true } = getUiOptions<T[], F>(
       uiSchema
     );
@@ -820,7 +821,7 @@ class ArrayField<T = any, F = any> extends Component<
 
     return {
       children: (
-        <ArraySchemaField
+        <ItemSchemaField
           name={name}
           index={index}
           schema={itemSchema}
diff --git a/packages/core/src/components/fields/index.ts b/packages/core/src/components/fields/index.ts
index 3f50ba8c19..2ae931d4dc 100644
--- a/packages/core/src/components/fields/index.ts
+++ b/packages/core/src/components/fields/index.ts
@@ -12,7 +12,7 @@ import NullField from "./NullField";
 const fields: RegistryFieldsType = {
   AnyOfField: MultiSchemaField,
   ArrayField,
-  ArraySchemaField: SchemaField,
+  // ArrayField falls back to SchemaField if ArraySchemaField is not defined, which it isn't by default
   BooleanField,
   NumberField,
   ObjectField,