diff --git a/bullet-featherstone/src/EntityManagementFeatures.cc b/bullet-featherstone/src/EntityManagementFeatures.cc
index 775c2948b..99e40b827 100644
--- a/bullet-featherstone/src/EntityManagementFeatures.cc
+++ b/bullet-featherstone/src/EntityManagementFeatures.cc
@@ -206,6 +206,8 @@ Identity EntityManagementFeatures::ConstructEmptyWorld(
 bool EntityManagementFeatures::RemoveModel(const Identity &_modelID)
 {
   auto *model = this->ReferenceInterface<ModelInfo>(_modelID);
+  if (!model)
+    return false;
   return this->RemoveModelImpl(model->world, _modelID);
 }
 
diff --git a/test/common_test/world_features.cc b/test/common_test/world_features.cc
index 640e185cc..e1e68c0f0 100644
--- a/test/common_test/world_features.cc
+++ b/test/common_test/world_features.cc
@@ -434,6 +434,10 @@ TEST_F(WorldNestedModelTest, WorldConstructNestedModel)
     gz::physics::ForwardStep::State state;
     gz::physics::ForwardStep::Output output;
 
+    // Check invalid input to RemoveNestedModel method
+    EXPECT_FALSE(worldModel->RemoveNestedModel(1));
+    EXPECT_FALSE(worldModel->RemoveNestedModel("invalid"));
+
     // Check that we can remove models via RemoveNestedModel
     EXPECT_TRUE(worldModel->RemoveNestedModel(0));
     EXPECT_TRUE(nestedModel->Removed());