diff --git a/CHANGELOG.md b/CHANGELOG.md
index da3ba894..e5ea833e 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -27,6 +27,7 @@ https://github.com/capistrano/capistrano/compare/v3.4.0...HEAD
     instead of `Capfile`. (@mattbrictson)
   * Return first 12 characters (instead of 7) of SHA1 hash when determining current git revision (@sds)
   * Clean up rubocop lint warnings (@cshaffer)
+  * Ensure task invocation within after hooks is namespace aware (@thickpaddy)
 
 ## `3.4.0`
 
diff --git a/lib/capistrano/dsl/task_enhancements.rb b/lib/capistrano/dsl/task_enhancements.rb
index 18cbb8ff..13ea4764 100644
--- a/lib/capistrano/dsl/task_enhancements.rb
+++ b/lib/capistrano/dsl/task_enhancements.rb
@@ -9,8 +9,9 @@ module Capistrano
 
     def after(task, post_task, *args, &block)
       Rake::Task.define_task(post_task, *args, &block) if block_given?
-      Rake::Task[task].enhance do
-        Rake::Task[post_task].invoke
+      task = Rake::Task[task]
+      task.enhance do
+        Rake.application.lookup(post_task, task.scope).invoke
       end
     end
 
diff --git a/spec/lib/capistrano/dsl/task_enhancements_spec.rb b/spec/lib/capistrano/dsl/task_enhancements_spec.rb
index a5111b94..bf3a7dda 100644
--- a/spec/lib/capistrano/dsl/task_enhancements_spec.rb
+++ b/spec/lib/capistrano/dsl/task_enhancements_spec.rb
@@ -80,6 +80,26 @@ module Capistrano
         expect(order).to eq(['before_task', 'task', 'after_task'])
       end
 
+      it "invokes using the correct namespace when defined within a namespace" do
+        Rake.application.in_namespace('namespace') {
+          Rake::Task.define_task('task') do |t|
+            order.push(t.name)
+          end
+          task_enhancements.before('task', 'before_task', :order) do |t|
+            order.push(t.name)
+          end
+          task_enhancements.after('task', 'after_task', :order) do |t|
+            order.push(t.name)
+          end
+        }
+
+        Rake::Task['namespace:task'].invoke
+
+        expect(order).to eq(
+          ['namespace:before_task', 'namespace:task', 'namespace:after_task']
+        )
+      end
+
     end
 
     describe 'remote_file' do