diff --git a/packages/react-aria/src/dialog/useDialog.ts b/packages/react-aria/src/dialog/useDialog.ts
index f44cf365089..04e67dccdd2 100644
--- a/packages/react-aria/src/dialog/useDialog.ts
+++ b/packages/react-aria/src/dialog/useDialog.ts
@@ -75,6 +75,28 @@ export function useDialog(props: AriaDialogProps, ref: RefObject<FocusableElemen
 
   useOverlayFocusContain();
 
+  // Warn in dev mode if the dialog has no accessible title.
+  // This catches a common mistake where useDialog and useOverlayTriggerState
+  // are used in the same component, causing the title element to not be
+  // in the DOM when useSlotId queries for it.
+  // Check the DOM element directly since aria-labelledby may be added by
+  // wrapper components (e.g. RAC Dialog uses trigger ID as a fallback).
+  let hasWarned = useRef(false);
+  useEffect(() => {
+    if (process.env.NODE_ENV !== 'production' && !hasWarned.current && ref.current) {
+      let el = ref.current;
+      let hasAriaLabel = el.hasAttribute('aria-label');
+      let hasAriaLabelledby = el.hasAttribute('aria-labelledby');
+      if (!hasAriaLabel && !hasAriaLabelledby) {
+        console.warn(
+          'A dialog must have a visible title for accessibility. ' +
+          'Either provide an aria-label or aria-labelledby prop, or render a heading element inside the dialog with the titleProps from useDialog.'
+        );
+        hasWarned.current = true;
+      }
+    }
+  });
+
   // We do not use aria-modal due to a Safari bug which forces the first focusable element to be focused
   // on mount when inside an iframe, no matter which element we programmatically focus.
   // See https://bugs.webkit.org/show_bug.cgi?id=211934.
diff --git a/packages/react-aria/test/dialog/useDialog.test.js b/packages/react-aria/test/dialog/useDialog.test.js
index 3d824a65a68..48b24d3fafa 100644
--- a/packages/react-aria/test/dialog/useDialog.test.js
+++ b/packages/react-aria/test/dialog/useDialog.test.js
@@ -16,25 +16,30 @@ import {useDialog} from '../../src/dialog/useDialog';
 
 function Example(props) {
   let ref = useRef();
-  let {dialogProps} = useDialog(props, ref);
-  return <div ref={ref} {...dialogProps} data-testid="test">{props.children}</div>;
+  let {dialogProps, titleProps} = useDialog(props, ref);
+  return (
+    <div ref={ref} {...dialogProps} data-testid="test">
+      {props.showTitle && <h2 {...titleProps}>Title</h2>}
+      {props.children}
+    </div>
+  );
 }
 
 describe('useDialog', function () {
   it('should have role="dialog" by default', function () {
-    let res = render(<Example />);
+    let res = render(<Example aria-label="Test dialog" />);
     let el = res.getByTestId('test');
     expect(el).toHaveAttribute('role', 'dialog');
   });
 
   it('should accept role="alertdialog"', function () {
-    let res = render(<Example role="alertdialog" />);
+    let res = render(<Example role="alertdialog" aria-label="Test dialog" />);
     let el = res.getByTestId('test');
     expect(el).toHaveAttribute('role', 'alertdialog');
   });
 
   it('should focus the overlay on mount', function () {
-    let res = render(<Example />);
+    let res = render(<Example aria-label="Test dialog" />);
     let el = res.getByTestId('test');
     expect(el).toHaveAttribute('tabIndex', '-1');
     expect(document.activeElement).toBe(el);
@@ -42,11 +47,46 @@ describe('useDialog', function () {
 
   it('should not focus the overlay if something inside is auto focused', function () {
     let res = render(
-      <Example>
+      <Example aria-label="Test dialog">
         <input data-testid="input" autoFocus />
       </Example>
     );
     let input = res.getByTestId('input');
     expect(document.activeElement).toBe(input);
   });
+
+  describe('dev warnings', function () {
+    let originalWarn;
+
+    beforeEach(function () {
+      originalWarn = console.warn;
+      console.warn = jest.fn();
+    });
+
+    afterEach(function () {
+      console.warn = originalWarn;
+    });
+
+    it('should warn when dialog has no accessible title', function () {
+      render(<Example />);
+      expect(console.warn).toHaveBeenCalledWith(
+        expect.stringContaining('A dialog must have a visible title for accessibility')
+      );
+    });
+
+    it('should not warn when aria-label is provided', function () {
+      render(<Example aria-label="My dialog" />);
+      expect(console.warn).not.toHaveBeenCalled();
+    });
+
+    it('should not warn when aria-labelledby is provided', function () {
+      render(<Example aria-labelledby="some-id" />);
+      expect(console.warn).not.toHaveBeenCalled();
+    });
+
+    it('should not warn when a title element is rendered', function () {
+      render(<Example showTitle />);
+      expect(console.warn).not.toHaveBeenCalled();
+    });
+  });
 });
diff --git a/scripts/setupTests.js b/scripts/setupTests.js
index fedbf8c0bd3..891aa7cd563 100644
--- a/scripts/setupTests.js
+++ b/scripts/setupTests.js
@@ -39,7 +39,8 @@ const ERROR_PATTERNS_WE_SHOULD_FIX_BUT_ALLOW = [
 ];
 
 const WARNING_PATTERNS_WE_SHOULD_FIX_BUT_ALLOW = [
-  'Browserslist: caniuse-lite is outdated'
+  'Browserslist: caniuse-lite is outdated',
+  'A dialog must have a visible title for accessibility'
 ];
 
 function failTestOnConsoleError() {