diff --git a/packages/forms/signals/src/api/structure.ts b/packages/forms/signals/src/api/structure.ts
index f0943863d09d..e9974ae3e27e 100644
--- a/packages/forms/signals/src/api/structure.ts
+++ b/packages/forms/signals/src/api/structure.ts
@@ -6,7 +6,7 @@
  * found in the LICENSE file at https://angular.dev/license
  */
 
-import {inject, Injector, runInInjectionContext, WritableSignal} from '@angular/core';
+import {inject, Injector, runInInjectionContext, untracked, WritableSignal} from '@angular/core';
 
 import {BasicFieldAdapter, FieldAdapter} from '../field/field_adapter';
 import {FormFieldManager} from '../field/manager';
@@ -369,10 +369,13 @@ export async function submit<TModel>(
   action: (form: FieldTree<TModel>) => Promise<TreeValidationResult>,
 ) {
   const node = form() as unknown as FieldNode;
-  markAllAsTouched(node);
+  const invalid = untracked(() => {
+    markAllAsTouched(node);
+    return node.invalid();
+  });
 
   // Fail fast if the form is already invalid.
-  if (node.invalid()) {
+  if (invalid) {
     return;
   }
 
@@ -429,6 +432,12 @@ export function schema<TValue>(fn: SchemaFn<TValue>): Schema<TValue> {
 
 /** Marks a {@link node} and its descendants as touched. */
 function markAllAsTouched(node: FieldNode) {
+  // Don't mark hidden, disabled, or readonly fields as touched since they don't contribute to the
+  // form's validity. This also prevents errors from appearing immediately if they're later made
+  // interactive.
+  if (node.validationState.shouldSkipValidation()) {
+    return;
+  }
   node.markAsTouched();
   for (const child of node.structure.children()) {
     markAllAsTouched(child);
diff --git a/packages/forms/signals/test/node/submit.spec.ts b/packages/forms/signals/test/node/submit.spec.ts
index 568a05ca489c..400336ffb959 100644
--- a/packages/forms/signals/test/node/submit.spec.ts
+++ b/packages/forms/signals/test/node/submit.spec.ts
@@ -9,12 +9,15 @@
 import {Injector, resource, signal} from '@angular/core';
 import {TestBed} from '@angular/core/testing';
 import {
+  disabled,
   form,
   required,
   requiredError,
   submit,
   validateAsync,
   ValidationError,
+  hidden,
+  readonly,
 } from '../../public_api';
 
 describe('submit', () => {
@@ -269,6 +272,81 @@ describe('submit', () => {
     expect(f.first().errors()).toEqual([]);
     expect(f.last().errors()).toEqual([{kind: 'submit', fieldTree: f.last}]);
   });
+
+  it('does not mark disabled fields as touched', async () => {
+    const data = signal({first: '', last: ''});
+    const f = form(
+      data,
+      (name) => {
+        // Disable first name when last name is empty.
+        disabled(name.first, ({valueOf}) => valueOf(name.last) === '');
+      },
+      {injector: TestBed.inject(Injector)},
+    );
+
+    expect(f.first().disabled()).toBe(true);
+    expect(f.first().touched()).toBe(false);
+    expect(f.last().touched()).toBe(false);
+
+    await submit(f, async () => []);
+    expect(f.first().touched()).toBe(false);
+    expect(f.last().touched()).toBe(true);
+
+    // Set last name to make first name enabled.
+    f.last().value.set('Doe');
+    expect(f.first().disabled()).toBe(false);
+    expect(f.first().touched()).toBe(false);
+  });
+
+  it('does not mark hidden fields as touched', async () => {
+    const data = signal({first: '', last: ''});
+    const f = form(
+      data,
+      (name) => {
+        // Hide first name when last name is empty.
+        hidden(name.first, ({valueOf}) => valueOf(name.last) === '');
+      },
+      {injector: TestBed.inject(Injector)},
+    );
+
+    expect(f.first().hidden()).toBe(true);
+    expect(f.first().touched()).toBe(false);
+    expect(f.last().touched()).toBe(false);
+
+    await submit(f, async () => []);
+    expect(f.first().touched()).toBe(false);
+    expect(f.last().touched()).toBe(true);
+
+    // Set last name to make first name visible.
+    f.last().value.set('Doe');
+    expect(f.first().hidden()).toBe(false);
+    expect(f.first().touched()).toBe(false);
+  });
+
+  it('does not mark readonly fields as touched', async () => {
+    const data = signal({first: '', last: ''});
+    const f = form(
+      data,
+      (name) => {
+        // Make first name readonly when last name is empty.
+        readonly(name.first, ({valueOf}) => valueOf(name.last) === '');
+      },
+      {injector: TestBed.inject(Injector)},
+    );
+
+    expect(f.first().readonly()).toBe(true);
+    expect(f.first().touched()).toBe(false);
+    expect(f.last().touched()).toBe(false);
+
+    await submit(f, async () => []);
+    expect(f.first().touched()).toBe(false);
+    expect(f.last().touched()).toBe(true);
+
+    // Set last name to make first name enabled.
+    f.last().value.set('Doe');
+    expect(f.first().readonly()).toBe(false);
+    expect(f.first().touched()).toBe(false);
+  });
 });
 
 /**