diff --git a/CHANGELOG.md b/CHANGELOG.md
index 3c641168ddc..d50f9d5452a 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -5,6 +5,7 @@
 ### Bug Fixes
 
 * Fix CSVBuilder not respecting `ActiveAdmin.application.csv_options = { humanize_name: false }` setting. [#5800] by [@HappyKadaver]
+* Fix crash when displaying current filters after filtering by a nested resource. [#5816] by [@deivid-rodriguez]
 
 ## 2.2.0 [☰](https://github.com/activeadmin/activeadmin/compare/v2.1.0..v2.2.0)
 
@@ -481,6 +482,7 @@ Please check [0-6-stable] for previous changes.
 [#5800]: https://github.com/activeadmin/activeadmin/pull/5800
 [#5801]: https://github.com/activeadmin/activeadmin/pull/5801
 [#5802]: https://github.com/activeadmin/activeadmin/pull/5802
+[#5816]: https://github.com/activeadmin/activeadmin/pull/5816
 
 [@5t111111]: https://github.com/5t111111
 [@aarek]: https://github.com/aarek
diff --git a/features/index/filters.feature b/features/index/filters.feature
index c2fe20708ba..f94b52eddf3 100644
--- a/features/index/filters.feature
+++ b/features/index/filters.feature
@@ -194,7 +194,6 @@ Feature: Index Filtering
     And the "Jane Doe" checkbox should be checked
 
   Scenario: Filtering posts without default scope
-
     Given a post with the title "Hello World" written by "Jane Doe" exists
     And an index configuration of:
     """
@@ -249,3 +248,20 @@ Feature: Index Filtering
     """
     And I press "Filter"
     Then I should not see a sidebar titled "Search status:"
+
+  Scenario: Filters and nested resources
+    Given a post with the title "The arrogant president" written by "Jane Doe" exists
+    And a configuration of:
+    """
+      ActiveAdmin.register User
+      ActiveAdmin.register Post do
+        permit_params :user_id
+
+        belongs_to :author, class_name: "User"
+      end
+    """
+    And I am logged in
+    And I am on the index page for users
+    When I select "The arrogant president" from "Posts"
+    And I press "Filter"
+    And I should see 1 user in the table
diff --git a/lib/active_admin/resource/belongs_to.rb b/lib/active_admin/resource/belongs_to.rb
index 57e68a8fed8..c2207babfb3 100644
--- a/lib/active_admin/resource/belongs_to.rb
+++ b/lib/active_admin/resource/belongs_to.rb
@@ -14,6 +14,9 @@ def initialize(key, namespace)
       # The resource which initiated this relationship
       attr_reader :owner
 
+      # The name of the relation
+      attr_reader :target_name
+
       def initialize(owner, target_name, options = {})
         @owner = owner
         @target_name = target_name
diff --git a/lib/active_admin/resource/routes.rb b/lib/active_admin/resource/routes.rb
index fede87158db..bc724a66442 100644
--- a/lib/active_admin/resource/routes.rb
+++ b/lib/active_admin/resource/routes.rb
@@ -110,7 +110,7 @@ def route_name(resource_path_name, options = {})
         # @return params to pass to instance path
         def route_instance_params(instance)
           if nested?
-            [instance.public_send(belongs_to_name).to_param, instance.to_param]
+            [instance.public_send(belongs_to_target_name).to_param, instance.to_param]
           else
             instance.to_param
           end
@@ -123,11 +123,19 @@ def route_collection_params(params)
         end
 
         def nested?
-          resource.belongs_to? && resource.belongs_to_config.required?
+          resource.belongs_to? && belongs_to_config.required?
+        end
+
+        def belongs_to_target_name
+          belongs_to_config.target_name
         end
 
         def belongs_to_name
-          resource.belongs_to_config.target.resource_name.singular if nested?
+          belongs_to_config.target.resource_name.singular
+        end
+
+        def belongs_to_config
+          resource.belongs_to_config
         end
 
         def routes