diff --git a/packages/go_router/CHANGELOG.md b/packages/go_router/CHANGELOG.md
index df331c32997..00c63880d8c 100644
--- a/packages/go_router/CHANGELOG.md
+++ b/packages/go_router/CHANGELOG.md
@@ -1,3 +1,7 @@
+## 6.5.7
+
+- Fixes a bug that go_router would crash if `GoRoute.pageBuilder` depends on `InheritedWidget`s. 
+
 ## 6.5.6
 
 - Fixes an issue where ShellRoute routes were not logged when debugLogDiagnostic was enabled.
diff --git a/packages/go_router/lib/src/builder.dart b/packages/go_router/lib/src/builder.dart
index 72d0574eb91..681f1d2ec44 100644
--- a/packages/go_router/lib/src/builder.dart
+++ b/packages/go_router/lib/src/builder.dart
@@ -74,7 +74,6 @@ class RouteBuilder {
     PopPageCallback onPopPage,
     bool routerNeglect,
   ) {
-    _routeMatchLookUp.clear();
     if (matchList.isEmpty) {
       // The build method can be called before async redirect finishes. Build a
       // empty box until then.
@@ -139,7 +138,7 @@ class RouteBuilder {
     final Map<GlobalKey<NavigatorState>, List<Page<Object?>>> keyToPage =
         <GlobalKey<NavigatorState>, List<Page<Object?>>>{};
     try {
-      assert(_routeMatchLookUp.isEmpty);
+      _routeMatchLookUp.clear();
       _buildRecursive(context, matchList, 0, onPopPage, routerNeglect,
           keyToPage, navigatorKey, registry);
 
diff --git a/packages/go_router/pubspec.yaml b/packages/go_router/pubspec.yaml
index 5c08a6a13c8..1bd627951aa 100644
--- a/packages/go_router/pubspec.yaml
+++ b/packages/go_router/pubspec.yaml
@@ -1,7 +1,7 @@
 name: go_router
 description: A declarative router for Flutter based on Navigation 2 supporting
   deep linking, data-driven routes and more
-version: 6.5.6
+version: 6.5.7
 repository: https://github.com/flutter/packages/tree/main/packages/go_router
 issue_tracker: https://github.com/flutter/flutter/issues?q=is%3Aissue+is%3Aopen+label%3A%22p%3A+go_router%22
 
diff --git a/packages/go_router/test/go_router_test.dart b/packages/go_router/test/go_router_test.dart
index fd19fa3539e..81df210f4ba 100644
--- a/packages/go_router/test/go_router_test.dart
+++ b/packages/go_router/test/go_router_test.dart
@@ -844,6 +844,42 @@ void main() {
     });
   });
 
+  testWidgets('does not crash when inherited widget changes',
+      (WidgetTester tester) async {
+    final ValueNotifier<String> notifier = ValueNotifier<String>('initial');
+    final List<GoRoute> routes = <GoRoute>[
+      GoRoute(
+          path: '/',
+          pageBuilder: (BuildContext context, GoRouterState state) {
+            final String value = context
+                .dependOnInheritedWidgetOfExactType<TestInheritedNotifier>()!
+                .notifier!
+                .value;
+            return MaterialPage<void>(
+              key: state.pageKey,
+              child: Text(value),
+            );
+          }),
+    ];
+    final GoRouter router = GoRouter(
+      routes: routes,
+    );
+    await tester.pumpWidget(
+      MaterialApp.router(
+        routerConfig: router,
+        builder: (BuildContext context, Widget? child) {
+          return TestInheritedNotifier(notifier: notifier, child: child!);
+        },
+      ),
+    );
+
+    expect(find.text(notifier.value), findsOneWidget);
+
+    notifier.value = 'updated';
+    await tester.pump();
+    expect(find.text(notifier.value), findsOneWidget);
+  });
+
   testWidgets(
       'Handles the Android back button when a second Shell has a GoRoute with parentNavigator key',
       (WidgetTester tester) async {
@@ -3480,6 +3516,14 @@ void main() {
   });
 }
 
+class TestInheritedNotifier extends InheritedNotifier<ValueNotifier<String>> {
+  const TestInheritedNotifier({
+    super.key,
+    required super.notifier,
+    required super.child,
+  });
+}
+
 /// This allows a value of type T or T? to be treated as a value of type T?.
 ///
 /// We use this so that APIs that have become non-nullable can still be used