diff --git a/CHANGELOG.md b/CHANGELOG.md
index 8ca59179..fd1a4d36 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,3 +1,11 @@
+# 6.4.3
+
+### Bug Fixes
+
+- [#213](https://github.com/okta/okta-react/pull/213) 
+  - Avoids build time error when `react-router-dom` v6 is in app dependencies
+  - Throws unsupported error when `SecureRoute` is used with `react-router-dom` v6
+
 # 6.4.2
 
 ### Bug Fixes
diff --git a/package.json b/package.json
index 77cc7a38..bb1e9c2b 100644
--- a/package.json
+++ b/package.json
@@ -46,7 +46,6 @@
   },
   "peerDependencies": {
     "@okta/okta-auth-js": "^5.3.1 || ^6.0.0",
-    "@types/react-router-dom": "^5.1.6",
     "react": ">=16.8.0",
     "react-dom": ">=16.8.0",
     "react-router-dom": ">=5.1.0"
diff --git a/src/SecureRoute.tsx b/src/SecureRoute.tsx
index 301b1439..0d114fb4 100644
--- a/src/SecureRoute.tsx
+++ b/src/SecureRoute.tsx
@@ -13,9 +13,22 @@
 import * as React from 'react';
 import { useOktaAuth, OnAuthRequiredFunction } from './OktaContext';
 import * as ReactRouterDom from 'react-router-dom';
-import { toRelativeUrl } from '@okta/okta-auth-js';
+import { toRelativeUrl, AuthSdkError } from '@okta/okta-auth-js';
 import OktaError from './OktaError';
 
+// eslint-disable-next-line @typescript-eslint/no-explicit-any
+let useMatch: any;
+if ('useRouteMatch' in ReactRouterDom) {
+  // trick static analyzer to avoid "'useRouteMatch' is not exported" error
+  // eslint-disable-next-line @typescript-eslint/no-explicit-any
+  useMatch = (ReactRouterDom as any)['useRouteMatch' in ReactRouterDom ? 'useRouteMatch' : ''];
+} else {
+  // throw when useMatch is triggered
+  useMatch = () => { 
+    throw new AuthSdkError('Unsupported: SecureRoute only works with react-router-dom v5 or any router library with compatible APIs. See examples under the "samples" folder for how to implement your own custom SecureRoute Component.');
+  };
+}
+
 const SecureRoute: React.FC<{
   onAuthRequired?: OnAuthRequiredFunction;
   errorComponent?: React.ComponentType<{ error: Error }>;
@@ -25,7 +38,7 @@ const SecureRoute: React.FC<{
   ...routeProps
 }) => { 
   const { oktaAuth, authState, _onAuthRequired } = useOktaAuth();
-  const match = ReactRouterDom.useRouteMatch(routeProps);
+  const match = useMatch(routeProps);
   const pendingLogin = React.useRef(false);
   const [handleLoginError, setHandleLoginError] = React.useState<Error | null>(null);
   const ErrorReporter = errorComponent || OktaError;
diff --git a/test/jest/reactRouterV6.test.tsx b/test/jest/reactRouterV6.test.tsx
new file mode 100644
index 00000000..aa11a540
--- /dev/null
+++ b/test/jest/reactRouterV6.test.tsx
@@ -0,0 +1,88 @@
+/*!
+ * Copyright (c) 2017-Present, Okta, Inc. and/or its affiliates. All rights reserved.
+ * The Okta software accompanied by this notice is provided pursuant to the Apache License, Version 2.0 (the "License.")
+ *
+ * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *
+ * See the License for the specific language governing permissions and limitations under the License.
+ */
+
+import * as React from 'react';
+import { act } from 'react-dom/test-utils';
+import { render } from 'react-dom';
+import SecureRoute from '../../src/SecureRoute';
+import OktaContext from '../../src/OktaContext';
+import { AuthSdkError } from '@okta/okta-auth-js';
+
+jest.mock('react-router-dom', () => ({
+  __esModule: true,
+  useMatch: jest.fn()
+}));
+
+class ErrorBoundary extends React.Component {
+  constructor(props: any) {
+    super(props);
+    this.state = { 
+      error: null
+    } as {
+      error: AuthSdkError | null
+    };
+  }
+
+  componentDidCatch(error: AuthSdkError) {
+    this.setState({ error: error });
+  }
+
+  render() {
+    if (this.state.error) {
+      // You can render any custom fallback UI
+      return <p>{ this.state.error.toString() }</p>;
+    }
+
+    return this.props.children; 
+  }
+}
+
+describe('react-router-dom v6', () => {
+  let oktaAuth: any;
+  let authState: any;
+
+  beforeEach(() => {
+    authState = null;
+    oktaAuth = {
+      options: {},
+      authStateManager: {
+        getAuthState: jest.fn().mockImplementation(() => authState),
+        subscribe: jest.fn(),
+        unsubscribe: jest.fn(),
+        updateAuthState: jest.fn(),
+      },
+      isLoginRedirect: jest.fn().mockImplementation(() => false),
+      handleLoginRedirect: jest.fn(),
+      signInWithRedirect: jest.fn(),
+      setOriginalUri: jest.fn(),
+      start: jest.fn(),
+    };
+  });
+  
+  it('throws unsupported error', async () => {
+    const container = document.createElement('div');
+    await act(async () => {
+      render(
+        <OktaContext.Provider value={{
+          oktaAuth: oktaAuth,
+          authState
+        }}>
+          <ErrorBoundary>
+            <SecureRoute path="/" />
+          </ErrorBoundary>
+        </OktaContext.Provider>,
+        container
+      );
+    });
+    expect(container.innerHTML).toBe('<p>AuthSdkError: Unsupported: SecureRoute only works with react-router-dom v5 or any router library with compatible APIs. See examples under the "samples" folder for how to implement your own custom SecureRoute Component.</p>');
+  })
+});
\ No newline at end of file