diff --git a/Gemfile.lock b/Gemfile.lock
index 9ef915d39fb..50898697243 100644
--- a/Gemfile.lock
+++ b/Gemfile.lock
@@ -74,7 +74,7 @@ PATH
       i18n (>= 1.6, < 2)
       minitest (~> 5.1)
       tzinfo (~> 1.1)
-      zeitwerk (~> 2.2)
+      zeitwerk (~> 2.2, >= 2.2.2)
     rails (6.1.0.alpha)
       actioncable (= 6.1.0.alpha)
       actionmailbox (= 6.1.0.alpha)
@@ -529,7 +529,7 @@ GEM
     websocket-extensions (0.1.4)
     xpath (3.2.0)
       nokogiri (~> 1.8)
-    zeitwerk (2.2.0)
+    zeitwerk (2.2.2)
 
 PLATFORMS
   java
diff --git a/actionpack/lib/action_dispatch.rb b/actionpack/lib/action_dispatch.rb
index 8c7f2a8eca8..c539fd6f82e 100644
--- a/actionpack/lib/action_dispatch.rb
+++ b/actionpack/lib/action_dispatch.rb
@@ -40,6 +40,9 @@ module ActionDispatch
   class IllegalStateError < StandardError
   end
 
+  class MissingController < NameError
+  end
+
   eager_autoload do
     autoload_under "http" do
       autoload :ContentSecurityPolicy
diff --git a/actionpack/lib/action_dispatch/http/parameters.rb b/actionpack/lib/action_dispatch/http/parameters.rb
index 3c16817af3f..deb499a6a0d 100644
--- a/actionpack/lib/action_dispatch/http/parameters.rb
+++ b/actionpack/lib/action_dispatch/http/parameters.rb
@@ -98,7 +98,7 @@ module ActionDispatch
 
         def binary_params_for?(controller, action)
           controller_class_for(controller).binary_params_for?(action)
-        rescue NameError
+        rescue MissingController
           false
         end
 
diff --git a/actionpack/lib/action_dispatch/http/request.rb b/actionpack/lib/action_dispatch/http/request.rb
index baa425c2c64..a5d477c76b0 100644
--- a/actionpack/lib/action_dispatch/http/request.rb
+++ b/actionpack/lib/action_dispatch/http/request.rb
@@ -86,7 +86,15 @@ module ActionDispatch
       if name
         controller_param = name.underscore
         const_name = controller_param.camelize << "Controller"
-        ActiveSupport::Dependencies.constantize(const_name)
+        begin
+          ActiveSupport::Dependencies.constantize(const_name)
+        rescue NameError => error
+          if error.missing_name == const_name || const_name.start_with?("#{error.missing_name}::")
+            raise MissingController.new(error.message, error.name)
+          else
+            raise
+          end
+        end
       else
         PASS_NOT_FOUND
       end
diff --git a/activesupport/activesupport.gemspec b/activesupport/activesupport.gemspec
index e3fbcd972db..ec51fbd4837 100644
--- a/activesupport/activesupport.gemspec
+++ b/activesupport/activesupport.gemspec
@@ -37,5 +37,5 @@ Gem::Specification.new do |s|
   s.add_dependency "tzinfo",          "~> 1.1"
   s.add_dependency "minitest",        "~> 5.1"
   s.add_dependency "concurrent-ruby", "~> 1.0", ">= 1.0.2"
-  s.add_dependency "zeitwerk",        "~> 2.2"
+  s.add_dependency "zeitwerk",        "~> 2.2", ">= 2.2.2"
 end