diff --git a/actionpack/lib/abstract_controller/callbacks.rb b/actionpack/lib/abstract_controller/callbacks.rb
index 6ada987bdc..e16e5cded3 100644
--- a/actionpack/lib/abstract_controller/callbacks.rb
+++ b/actionpack/lib/abstract_controller/callbacks.rb
@@ -33,14 +33,26 @@ module AbstractController
       define_callbacks :process_action,
                        terminator: ->(controller, result_lambda) { result_lambda.call; controller.performed? },
                        skip_after_callbacks_if_terminated: true
+      mattr_accessor :raise_on_missing_callback_actions, default: false
     end
 
     class ActionFilter # :nodoc:
-      def initialize(actions)
+      def initialize(filters, conditional_key, actions)
+        @filters = filters.to_a
+        @conditional_key = conditional_key
         @actions = Array(actions).map(&:to_s).to_set
       end
 
       def match?(controller)
+        if controller.raise_on_missing_callback_actions
+          missing_action = @actions.find { |action| !controller.available_action?(action) }
+          if missing_action
+            filter_names = @filters.length == 1 ? @filters.first.inspect : @filters.inspect
+            message = "The #{missing_action} action could not be found for the #{filter_names} callback on #{controller.class.name}, but it is listed in its #{@conditional_key.inspect} option"
+            raise ActionNotFound.new(message, controller, missing_action)
+          end
+        end
+
         @actions.include?(controller.action_name)
       end
 
@@ -75,9 +87,10 @@ module AbstractController
       end
 
       def _normalize_callback_option(options, from, to) # :nodoc:
-        if from = options.delete(from)
-          from = ActionFilter.new(from)
-          options[to] = Array(options[to]).unshift(from)
+        if from_value = options.delete(from)
+          filters = options[:filters]
+          from_value = ActionFilter.new(filters, from, from_value)
+          options[to] = Array(options[to]).unshift(from_value)
         end
       end
 
@@ -95,8 +108,10 @@ module AbstractController
       # * <tt>options</tt>  - A hash of options to be used when adding the callback.
       def _insert_callbacks(callbacks, block = nil)
         options = callbacks.extract_options!
-        _normalize_callback_options(options)
         callbacks.push(block) if block
+        options[:filters] = callbacks
+        _normalize_callback_options(options)
+        options.delete(:filters)
         callbacks.each do |callback|
           yield callback, options
         end
diff --git a/actionpack/test/abstract/callbacks_test.rb b/actionpack/test/abstract/callbacks_test.rb
index e64f580fb2..88f333cf8a 100644
--- a/actionpack/test/abstract/callbacks_test.rb
+++ b/actionpack/test/abstract/callbacks_test.rb
@@ -308,5 +308,190 @@ module AbstractController
         assert_equal "Hello world Howdy!", controller.response_body
       end
     end
+
+    class TestCallbacksWithMissingConditions < ActiveSupport::TestCase
+      class CallbacksWithMissingOnly < ControllerWithCallbacks
+        before_action :callback, only: :showw
+
+        def index
+        end
+
+        def show
+        end
+
+        private
+          def callback
+          end
+      end
+
+      test "callbacks raise exception when their 'only' condition is a missing action" do
+        with_raise_on_missing_callback_actions do
+          controller = CallbacksWithMissingOnly.new
+          assert_raises(AbstractController::ActionNotFound) do
+            controller.process(:index)
+          end
+        end
+      end
+
+      class CallbacksWithMissingOnlyInArray < ControllerWithCallbacks
+        before_action :callback, only: [:index, :showw]
+
+        def index
+        end
+
+        def show
+        end
+
+        private
+          def callback
+          end
+      end
+
+      test "callbacks raise exception when their 'only' array condition contains a missing action" do
+        with_raise_on_missing_callback_actions do
+          controller = CallbacksWithMissingOnlyInArray.new
+          assert_raises(AbstractController::ActionNotFound) do
+            controller.process(:index)
+          end
+        end
+      end
+
+      class CallbacksWithMissingExcept < ControllerWithCallbacks
+        before_action :callback, except: :showw
+
+        def index
+        end
+
+        def show
+        end
+
+        private
+          def callback
+          end
+      end
+
+      test "callbacks raise exception when their 'except' condition is a missing action" do
+        with_raise_on_missing_callback_actions do
+          controller = CallbacksWithMissingExcept.new
+          assert_raises(AbstractController::ActionNotFound) do
+            controller.process(:index)
+          end
+        end
+      end
+
+      class CallbacksWithMissingExceptInArray < ControllerWithCallbacks
+        before_action :callback, except: [:index, :showw]
+
+        def index
+        end
+
+        def show
+        end
+
+        private
+          def callback
+          end
+      end
+
+      test "callbacks raise exception when their 'except' array condition contains a missing action" do
+        with_raise_on_missing_callback_actions do
+          controller = CallbacksWithMissingExceptInArray.new
+          assert_raises(AbstractController::ActionNotFound) do
+            controller.process(:index)
+          end
+        end
+      end
+
+      class MultipleCallbacksWithMissingOnly < ControllerWithCallbacks
+        before_action :callback1, :callback2, ->() { }, only: :showw
+
+        def index
+        end
+
+        def show
+        end
+
+        private
+          def callback1
+          end
+
+          def callback2
+          end
+      end
+
+      test "raised exception message includes the names of callback actions and missing conditional action" do
+        with_raise_on_missing_callback_actions do
+          controller = MultipleCallbacksWithMissingOnly.new
+          error = assert_raises(AbstractController::ActionNotFound) do
+            controller.process(:index)
+          end
+
+          assert_includes error.message, ":callback1"
+          assert_includes error.message, ":callback2"
+          assert_includes error.message, "#<Proc:"
+          assert_includes error.message, "only"
+          assert_includes error.message, "showw"
+        end
+      end
+
+      class BlockCallbackWithMissingOnly < ControllerWithCallbacks
+        before_action only: :showw do
+          # Callback body
+        end
+
+        def index
+        end
+
+        def show
+        end
+      end
+
+      test "raised exception message includes a block callback" do
+        with_raise_on_missing_callback_actions do
+          controller = BlockCallbackWithMissingOnly.new
+          error = assert_raises(AbstractController::ActionNotFound) do
+            controller.process(:index)
+          end
+
+          assert_includes error.message, "#<Proc:"
+        end
+      end
+
+      class CallbacksWithBothOnlyAndExcept < ControllerWithCallbacks
+        before_action :callback, only: [:index, :show], except: :showw
+
+        def index
+        end
+
+        def show
+        end
+
+        private
+          def callback
+          end
+      end
+
+      test "callbacks with both :only and :except options raise an exception with the correct message" do
+        with_raise_on_missing_callback_actions do
+          controller = CallbacksWithBothOnlyAndExcept.new
+          error = assert_raises(AbstractController::ActionNotFound) do
+            controller.process(:index)
+          end
+
+          assert_includes error.message, ":callback"
+          assert_includes error.message, "except"
+          assert_includes error.message, "showw"
+        end
+      end
+
+      private
+        def with_raise_on_missing_callback_actions
+          old_raise_on_missing_callback_actions = ControllerWithCallbacks.raise_on_missing_callback_actions
+          ControllerWithCallbacks.raise_on_missing_callback_actions = true
+          yield
+        ensure
+          ControllerWithCallbacks.raise_on_missing_callback_actions = old_raise_on_missing_callback_actions
+        end
+    end
   end
 end
diff --git a/railties/lib/rails/application/configuration.rb b/railties/lib/rails/application/configuration.rb
index 20f7098dfa..a5abeaea1e 100644
--- a/railties/lib/rails/application/configuration.rb
+++ b/railties/lib/rails/application/configuration.rb
@@ -245,8 +245,8 @@ module Rails
           end
 
           if respond_to?(:action_controller)
+            action_controller.raise_on_missing_callback_actions = false
             action_controller.raise_on_open_redirects = true
-
             action_controller.wrap_parameters_by_default = true
           end
         when "7.1"
diff --git a/railties/lib/rails/generators/rails/app/templates/config/environments/development.rb.tt b/railties/lib/rails/generators/rails/app/templates/config/environments/development.rb.tt
index 38430f72b4..4327ee3408 100644
--- a/railties/lib/rails/generators/rails/app/templates/config/environments/development.rb.tt
+++ b/railties/lib/rails/generators/rails/app/templates/config/environments/development.rb.tt
@@ -77,4 +77,7 @@ Rails.application.configure do
 
   # Uncomment if you wish to allow Action Cable access from any origin.
   # config.action_cable.disable_request_forgery_protection = true
+
+  # Raise error when a before_action's only/except options reference missing actions
+  config.action_controller.raise_on_missing_callback_actions = true
 end
diff --git a/railties/lib/rails/generators/rails/app/templates/config/environments/test.rb.tt b/railties/lib/rails/generators/rails/app/templates/config/environments/test.rb.tt
index e186e37754..dcfc0b8dac 100644
--- a/railties/lib/rails/generators/rails/app/templates/config/environments/test.rb.tt
+++ b/railties/lib/rails/generators/rails/app/templates/config/environments/test.rb.tt
@@ -61,4 +61,7 @@ Rails.application.configure do
 
   # Annotate rendered view with file names.
   # config.action_view.annotate_rendered_view_with_filenames = true
+
+  # Raise error when a before_action's only/except options reference missing actions
+  config.action_controller.raise_on_missing_callback_actions = true
 end
diff --git a/railties/test/application/configuration_test.rb b/railties/test/application/configuration_test.rb
index 60c38d50a5..896ead4316 100644
--- a/railties/test/application/configuration_test.rb
+++ b/railties/test/application/configuration_test.rb
@@ -3505,6 +3505,32 @@ module ApplicationTests
       end
     end
 
+    test "ActionController::Base.raise_on_missing_callback_actions is false by default for production" do
+      app "production"
+
+      assert_equal false, ActionController::Base.raise_on_missing_callback_actions
+    end
+
+    test "ActionController::Base.raise_on_missing_callback_actions is false by default for upgraded apps" do
+      remove_from_config '.*config\.load_defaults.*\n'
+
+      app "development"
+
+      assert_equal false, ActionController::Base.raise_on_missing_callback_actions
+    end
+
+    test "ActionController::Base.raise_on_missing_callback_actions can be configured in the new framework defaults" do
+      remove_from_config '.*config\.load_defaults.*\n'
+
+      app_file "config/initializers/new_framework_defaults_6_2.rb", <<-RUBY
+        Rails.application.config.action_controller.raise_on_missing_callback_actions = true
+      RUBY
+
+      app "production"
+
+      assert_equal true, ActionController::Base.raise_on_missing_callback_actions
+    end
+
     private
       def set_custom_config(contents, config_source = "custom".inspect)
         app_file "config/custom.yml", contents