diff --git a/actionpack/lib/action_dispatch/routing/route_set.rb b/actionpack/lib/action_dispatch/routing/route_set.rb
index 9eff30fa53..d9d0c31165 100644
--- a/actionpack/lib/action_dispatch/routing/route_set.rb
+++ b/actionpack/lib/action_dispatch/routing/route_set.rb
@@ -855,7 +855,7 @@ module ActionDispatch
         recognize_path_with_request(req, path, extras)
       end
 
-      def recognize_path_with_request(req, path, extras)
+      def recognize_path_with_request(req, path, extras, raise_on_missing: true)
         @router.recognize(req) do |route, params|
           params.merge!(extras)
           params.each do |key, value|
@@ -875,12 +875,14 @@ module ActionDispatch
 
             return req.path_parameters
           elsif app.matches?(req) && app.engine?
-            path_parameters = app.rack_app.routes.recognize_path_with_request(req, path, extras)
-            return path_parameters
+            path_parameters = app.rack_app.routes.recognize_path_with_request(req, path, extras, raise_on_missing: false)
+            return path_parameters if path_parameters
           end
         end
 
-        raise ActionController::RoutingError, "No route matches #{path.inspect}"
+        if raise_on_missing
+          raise ActionController::RoutingError, "No route matches #{path.inspect}"
+        end
       end
     end
     # :startdoc:
diff --git a/actionpack/test/dispatch/routing_assertions_test.rb b/actionpack/test/dispatch/routing_assertions_test.rb
index a5198f2f13..009b6d9bc3 100644
--- a/actionpack/test/dispatch/routing_assertions_test.rb
+++ b/actionpack/test/dispatch/routing_assertions_test.rb
@@ -52,6 +52,8 @@ class RoutingAssertionsTest < ActionController::TestCase
       end
 
       mount engine => "/shelf"
+
+      get "/shelf/foo", controller: "query_articles", action: "index"
     end
   end
 
@@ -154,6 +156,10 @@ class RoutingAssertionsTest < ActionController::TestCase
     assert_match err.message, "This is a really bad msg"
   end
 
+  def test_assert_recognizes_continue_to_recoginize_after_it_tried_engines
+    assert_recognizes({ controller: "query_articles", action: "index" }, "/shelf/foo")
+  end
+
   def test_assert_routing
     assert_routing("/articles", controller: "articles", action: "index")
   end