diff --git a/src/RouterLink.ts b/src/RouterLink.ts
index 5c788ba36..505a219bd 100644
--- a/src/RouterLink.ts
+++ b/src/RouterLink.ts
@@ -302,8 +302,8 @@ function includesParams(
     } else {
       if (
         !Array.isArray(outerValue) ||
-        outerValue.length !== innerValue.length ||
-        innerValue.some((value, i) => value !== outerValue[i])
+        outerValue.length !== innerValue?.length ||
+        innerValue?.some((value, i) => value !== outerValue[i])
       )
         return false
     }
diff --git a/src/location.ts b/src/location.ts
index 70cfbdc84..ec93f4660 100644
--- a/src/location.ts
+++ b/src/location.ts
@@ -158,7 +158,14 @@ export function isSameRouteLocationParams(
   if (Object.keys(a).length !== Object.keys(b).length) return false
 
   for (const key in a) {
-    if (!isSameRouteLocationParamsValue(a[key], b[key])) return false
+    const aValue = a[key],
+      bValue = b[key]
+    if (
+      aValue === undefined ||
+      bValue === undefined ||
+      !isSameRouteLocationParamsValue(aValue, bValue)
+    )
+      return false
   }
 
   return true
diff --git a/src/matcher/index.ts b/src/matcher/index.ts
index 3f1aea8d5..00f969f67 100644
--- a/src/matcher/index.ts
+++ b/src/matcher/index.ts
@@ -6,6 +6,7 @@ import {
   RouteRecordName,
   _RouteRecordProps,
   RouteRecordRedirect,
+  RouteParams,
 } from '../types'
 import { createRouterError, ErrorTypes, MatcherError } from '../errors'
 import { createRouteRecordMatcher, RouteRecordMatcher } from './pathMatcher'
@@ -231,6 +232,19 @@ export function createRouterMatcher(
     location: Readonly<MatcherLocationRaw>,
     currentLocation: Readonly<MatcherLocation>
   ): MatcherLocation {
+    // cannot use Required<RouteParams>
+    type RouteParamsRequired = {
+      [P in keyof RouteParams]: NonNullable<RouteParams[string]>
+    }
+    const removeUndefinedFromRouteParams = (
+      obj: RouteParams
+    ): RouteParamsRequired => {
+      for (const key in obj) {
+        if (obj[key] === undefined) delete obj[key]
+      }
+      return obj as RouteParamsRequired
+    }
+
     let matcher: RouteRecordMatcher | undefined
     let params: PathParams = {}
     let path: MatcherLocation['path']
@@ -245,15 +259,17 @@ export function createRouterMatcher(
         })
 
       name = matcher.record.name
-      params = assign(
-        // paramsFromLocation is a new object
-        paramsFromLocation(
-          currentLocation.params,
-          // only keep params that exist in the resolved location
-          // TODO: only keep optional params coming from a parent record
-          matcher.keys.filter(k => !k.optional).map(k => k.name)
-        ),
-        location.params
+      params = removeUndefinedFromRouteParams(
+        assign(
+          // paramsFromLocation is a new object
+          paramsFromLocation(
+            currentLocation.params,
+            // only keep params that exist in the resolved location
+            // TODO: only keep optional params coming from a parent record
+            matcher.keys.filter(k => !k.optional).map(k => k.name)
+          ),
+          location.params
+        )
       )
       // throws if cannot be stringified
       path = matcher.stringify(params)
@@ -291,7 +307,11 @@ export function createRouterMatcher(
       name = matcher.record.name
       // since we are navigating to the same location, we don't need to pick the
       // params like when `name` is provided
-      params = assign({}, currentLocation.params, location.params)
+      params = assign(
+        {},
+        removeUndefinedFromRouteParams(currentLocation.params),
+        removeUndefinedFromRouteParams(location.params ?? {})
+      )
       path = matcher.stringify(params)
     }
 
diff --git a/src/types/index.ts b/src/types/index.ts
index 49c439915..5654c4729 100644
--- a/src/types/index.ts
+++ b/src/types/index.ts
@@ -32,7 +32,9 @@ export type RouteParamValue = string
  * @internal
  */
 export type RouteParamValueRaw = RouteParamValue | number | null | undefined
-export type RouteParams = Record<string, RouteParamValue | RouteParamValue[]>
+export type RouteParams = {
+  [P in string]?: RouteParamValue | RouteParamValue[]
+}
 export type RouteParamsRaw = Record<
   string,
   RouteParamValueRaw | Exclude<RouteParamValueRaw, null | undefined>[]
diff --git a/test-dts/routeParams.test-d.ts b/test-dts/routeParams.test-d.ts
new file mode 100644
index 000000000..8f36a5f57
--- /dev/null
+++ b/test-dts/routeParams.test-d.ts
@@ -0,0 +1,7 @@
+import { RouteParams, RouteParamsRaw, expectType } from './index'
+
+const params: RouteParams | RouteParamsRaw = { name: 'value' }
+// @ts-expect-error
+expectType<undefined>(params.nonExist)
+// @ts-expect-error
+expectType<string>(params.name)