diff --git a/packages/docusaurus-theme-classic/src/theme/Navbar/index.tsx b/packages/docusaurus-theme-classic/src/theme/Navbar/index.tsx
index 23513b8b61..15bce69621 100644
--- a/packages/docusaurus-theme-classic/src/theme/Navbar/index.tsx
+++ b/packages/docusaurus-theme-classic/src/theme/Navbar/index.tsx
@@ -15,6 +15,7 @@ import {
   useThemeConfig,
   useMobileSecondaryMenuRenderer,
   usePrevious,
+  useHistoryPopHandler,
 } from '@docusaurus/theme-common';
 import useHideableNavbar from '@theme/hooks/useHideableNavbar';
 import useLockBodyScroll from '@theme/hooks/useLockBodyScroll';
@@ -58,6 +59,18 @@ function useMobileSidebar() {
 
   const [shown, setShown] = useState(false);
 
+  // Close mobile sidebar on navigation pop
+  // Most likely firing when using the Android back button (but not only)
+  useHistoryPopHandler(() => {
+    if (shown) {
+      setShown(false);
+      // Should we prevent the navigation here?
+      // See https://github.com/facebook/docusaurus/pull/5462#issuecomment-911699846
+      // return false; // prevent pop navigation
+    }
+    return undefined;
+  });
+
   const toggle = useCallback(() => {
     setShown((s) => !s);
   }, []);
diff --git a/packages/docusaurus-theme-common/src/index.ts b/packages/docusaurus-theme-common/src/index.ts
index 08b097871e..d2ca0db42d 100644
--- a/packages/docusaurus-theme-common/src/index.ts
+++ b/packages/docusaurus-theme-common/src/index.ts
@@ -71,3 +71,5 @@ export {useLocalPathname} from './utils/useLocalPathname';
 
 export {translateTagsPageTitle, listTagsByLetters} from './utils/tagsUtils';
 export type {TagLetterEntry} from './utils/tagsUtils';
+
+export {useHistoryPopHandler} from './utils/historyUtils';
diff --git a/packages/docusaurus-theme-common/src/utils/historyUtils.ts b/packages/docusaurus-theme-common/src/utils/historyUtils.ts
new file mode 100644
index 0000000000..b120c7981f
--- /dev/null
+++ b/packages/docusaurus-theme-common/src/utils/historyUtils.ts
@@ -0,0 +1,50 @@
+/**
+ * Copyright (c) Facebook, Inc. and its affiliates.
+ *
+ * This source code is licensed under the MIT license found in the
+ * LICENSE file in the root directory of this source tree.
+ */
+
+import {useEffect, useRef} from 'react';
+import {useHistory} from '@docusaurus/router';
+import type {Location, Action} from '@docusaurus/history';
+
+type HistoryBlockHandler = (location: Location, action: Action) => void | false;
+
+/*
+Permits to register a handler that will be called on history actions (pop,push,replace)
+If the handler returns false, the navigation transition will be blocked/cancelled
+ */
+export function useHistoryActionHandler(handler: HistoryBlockHandler): void {
+  const {block} = useHistory();
+
+  // Avoid stale closure issues without triggering useless re-renders
+  const lastHandlerRef = useRef(handler);
+  useEffect(() => {
+    lastHandlerRef.current = handler;
+  }, [handler]);
+
+  useEffect(() => {
+    // See https://github.com/remix-run/history/blob/main/docs/blocking-transitions.md
+    return block((location, action) => {
+      return lastHandlerRef.current(location, action);
+    });
+  }, [block, lastHandlerRef]);
+}
+
+/*
+Permits to register a handler that will be called on history pop navigation (backward/forward)
+If the handler returns false, the backward/forward transition will be blocked
+
+Unfortunately there's no good way to detect the "direction" (backward/forward) of the POP event.
+ */
+export function useHistoryPopHandler(handler: HistoryBlockHandler): void {
+  useHistoryActionHandler((location, action) => {
+    if (action === 'POP') {
+      // Eventually block navigation if handler returns false
+      return handler(location, action);
+    }
+    // Don't block other navigation actions
+    return undefined;
+  });
+}