diff --git a/CHANGELOG.md b/CHANGELOG.md
index cfba570c5a..920ccfdeb6 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -21,6 +21,7 @@ should change the heading of the (upcoming) version to include a major version b
 ## @rjsf/core
 
 - Updated `SchemaField` to pass `required` flag to `_AnyOfField`/`_OneOfField`
+- Updated `Form` to deal with null objects in `filterErrorsBasedOnSchema()`, fixing [#4306](https://github.com/rjsf-team/react-jsonschema-form/issues/4306)
 
 ## Dev / docs / playground
 
diff --git a/packages/core/src/components/Form.tsx b/packages/core/src/components/Form.tsx
index aa8bc60ab5..7df7891f71 100644
--- a/packages/core/src/components/Form.tsx
+++ b/packages/core/src/components/Form.tsx
@@ -37,6 +37,7 @@ import {
 import _forEach from 'lodash/forEach';
 import _get from 'lodash/get';
 import _isEmpty from 'lodash/isEmpty';
+import _isNil from 'lodash/isNil';
 import _pick from 'lodash/pick';
 import _toPath from 'lodash/toPath';
 
@@ -603,18 +604,18 @@ export default class Form<
     if (resolvedSchema?.type !== 'object' && resolvedSchema?.type !== 'array') {
       filteredErrors.__errors = schemaErrors.__errors;
     }
-    // Removing undefined and empty errors.
-    const filterUndefinedErrors = (errors: any): ErrorSchema<T> => {
+    // Removing undefined, null and empty errors.
+    const filterNilOrEmptyErrors = (errors: any): ErrorSchema<T> => {
       _forEach(errors, (errorAtKey, errorKey: keyof typeof errors) => {
-        if (errorAtKey === undefined) {
+        if (_isNil(errorAtKey)) {
           delete errors[errorKey];
         } else if (typeof errorAtKey === 'object' && !Array.isArray(errorAtKey.__errors)) {
-          filterUndefinedErrors(errorAtKey);
+          filterNilOrEmptyErrors(errorAtKey);
         }
       });
       return errors;
     };
-    return filterUndefinedErrors(filteredErrors);
+    return filterNilOrEmptyErrors(filteredErrors);
   }
 
   /** Function to handle changes made to a field in the `Form`. This handler receives an entirely new copy of the