diff --git a/dartsim/src/SDFFeatures.cc b/dartsim/src/SDFFeatures.cc
index 3dc16fc43..27be8828b 100644
--- a/dartsim/src/SDFFeatures.cc
+++ b/dartsim/src/SDFFeatures.cc
@@ -1140,6 +1140,11 @@ Identity SDFFeatures::ConstructSdfJoint(
   joint->setTransformFromParentBodyNode(parent_T_prejoint_final);
 
   const std::size_t jointID = this->AddJoint(joint);
+  // Increment BodyNode version since the child could be moved to a new skeleton
+  // when a joint is created.
+  // TODO(azeey) Remove incrementVersion once DART has been updated to
+  // internally increment the BodyNode's version after Joint::moveTo.
+  _child->incrementVersion();
 
   return this->GenerateIdentity(jointID, this->joints.at(jointID));
 }
diff --git a/dartsim/src/SDFFeatures_TEST.cc b/dartsim/src/SDFFeatures_TEST.cc
index 4d25c84fe..320bbed87 100644
--- a/dartsim/src/SDFFeatures_TEST.cc
+++ b/dartsim/src/SDFFeatures_TEST.cc
@@ -30,6 +30,7 @@
 
 #include <ignition/plugin/Loader.hh>
 
+#include <ignition/physics/FrameSemantics.hh>
 #include <ignition/physics/GetEntities.hh>
 #include <ignition/physics/Joint.hh>
 #include <ignition/physics/RequestEngine.hh>
@@ -57,6 +58,7 @@ struct TestFeatureList : ignition::physics::FeatureList<
     ignition::physics::GetEntities,
     ignition::physics::GetBasicJointState,
     ignition::physics::SetBasicJointState,
+    ignition::physics::LinkFrameSemantics,
     ignition::physics::dartsim::RetrieveWorld,
     ignition::physics::sdf::ConstructSdfCollision,
     ignition::physics::sdf::ConstructSdfJoint,
@@ -661,6 +663,56 @@ TEST_P(SDFFeatures_TEST, FallbackToFixedJoint)
   }
 }
 
+/////////////////////////////////////////////////
+// Check that joints between links in different models work as expected
+TEST_P(SDFFeatures_TEST, JointsAcrossNestedModels)
+{
+  WorldPtr world = this->LoadWorld(
+      TEST_WORLD_DIR "/joint_across_nested_models.sdf");
+  ASSERT_NE(nullptr, world);
+
+  dart::simulation::WorldPtr dartWorld = world->GetDartsimWorld();
+  ASSERT_NE(nullptr, dartWorld);
+
+  auto checkModel = [&world](const std::string &_modelName){
+    SCOPED_TRACE("checkModel " + _modelName);
+    // check top level model
+    auto parentModel = world->GetModel(_modelName);
+    ASSERT_NE(nullptr, parentModel);
+
+    auto link1 = parentModel->GetLink("link1");
+    ASSERT_NE(nullptr, link1);
+
+    auto nestedModel = parentModel->GetNestedModel("nested_model");
+    ASSERT_NE(nullptr, nestedModel);
+
+    auto link2 = nestedModel->GetLink("link2");
+    ASSERT_NE(nullptr, link2);
+
+    Eigen::Vector3d link1Pos =
+        link1->FrameDataRelativeToWorld().pose.translation();
+    Eigen::Vector3d link2Pos =
+        link2->FrameDataRelativeToWorld().pose.translation();
+    EXPECT_NEAR(0.25, link1Pos.z(), 1e-6);
+    EXPECT_NEAR(0.25, link2Pos.z(), 1e-6);
+  };
+
+  {
+    SCOPED_TRACE("Before step");
+    checkModel("M1");
+    checkModel("M2");
+  }
+  for (int i = 0; i < 1000; ++i)
+  {
+    dartWorld->step();
+  }
+  {
+    SCOPED_TRACE("After step");
+    checkModel("M1");
+    checkModel("M2");
+  }
+}
+
 /////////////////////////////////////////////////
 class SDFFeatures_FrameSemantics: public SDFFeatures_TEST
 {
diff --git a/dartsim/worlds/joint_across_nested_models.sdf b/dartsim/worlds/joint_across_nested_models.sdf
new file mode 100644
index 000000000..fb4e8c8b4
--- /dev/null
+++ b/dartsim/worlds/joint_across_nested_models.sdf
@@ -0,0 +1,127 @@
+<?xml version="1.0"?>
+<sdf version="1.8">
+  <world name="default">
+
+    <model name="ground_plane">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+            </plane>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+
+    <model name="M1">
+      <pose>0 0 0.25 0 0.0 0</pose>
+      <!-- link1 doesn't have a collision so it would fall indefinitely if the 
+      contraint created by joint j1 is not enforced -->
+      <link name="link1">
+        <visual name="box_visual">
+          <geometry>
+            <box>
+              <size>1 1 0.5</size>
+            </box>
+          </geometry>
+          <material>
+            <ambient>1 0 0 1</ambient>
+            <diffuse>1 0 0 1</diffuse>
+            <specular>1 0 0 1</specular>
+          </material>
+        </visual>
+      </link>
+      <joint name="j1" type="fixed">
+        <parent>link1</parent>
+        <child>nested_model::link2</child>
+      </joint>
+
+      <model name="nested_model">
+        <pose>1 0 0.0 0 0.0 0</pose>
+        <link name="link2">
+          <collision name="box_collision">
+            <geometry>
+              <box>
+                <size>1 1 0.5</size>
+              </box>
+            </geometry>
+          </collision>
+
+          <visual name="box_visual">
+            <geometry>
+              <box>
+                <size>1 1 0.5</size>
+              </box>
+            </geometry>
+            <material>
+              <ambient>1 0 0 1</ambient>
+              <diffuse>1 0 0 1</diffuse>
+              <specular>1 0 0 1</specular>
+            </material>
+          </visual>
+        </link>
+      </model>
+    </model>
+
+    <!-- This model is the same as M1 except the model pose and the parent and child elements of joint j1-->
+    <model name="M2">
+      <pose>0 5 0.25 0 0.0 0</pose>
+      <!-- link1 doesn't have a collision so it would fall indefinitely if the 
+      contraint created by joint j1 is not enforced -->
+      <link name="link1">
+        <visual name="box_visual">
+          <geometry>
+            <box>
+              <size>1 1 0.5</size>
+            </box>
+          </geometry>
+          <material>
+            <ambient>1 0 0 1</ambient>
+            <diffuse>1 0 0 1</diffuse>
+            <specular>1 0 0 1</specular>
+          </material>
+        </visual>
+      </link>
+      <joint name="j1" type="fixed">
+        <parent>nested_model::link2</parent>
+        <child>link1</child>
+      </joint>
+
+      <model name="nested_model">
+        <pose>1.0 0 0.0 0 0.0 0</pose>
+        <link name="link2">
+          <collision name="box_collision">
+            <geometry>
+              <box>
+                <size>1 1 0.5</size>
+              </box>
+            </geometry>
+          </collision>
+
+          <visual name="box_visual">
+            <geometry>
+              <box>
+                <size>1 1 0.5</size>
+              </box>
+            </geometry>
+            <material>
+              <ambient>1 0 0 1</ambient>
+              <diffuse>1 0 0 1</diffuse>
+              <specular>1 0 0 1</specular>
+            </material>
+          </visual>
+        </link>
+      </model>
+    </model>
+  </world>
+</sdf>