diff --git a/.rubocop.yml b/.rubocop.yml
index dfaaa11708..f2f9a591c3 100644
--- a/.rubocop.yml
+++ b/.rubocop.yml
@@ -108,7 +108,7 @@ Metrics/BlockNesting:
 
 Metrics/ClassLength:
   CountComments: false
-  Max: 120 # TODO: Lower to 100
+  Max: 132 # TODO: Lower to 100
 
 Metrics/CyclomaticComplexity:
   Max: 15 # TODO: Lower to 6
diff --git a/app/controllers/rails_admin/main_controller.rb b/app/controllers/rails_admin/main_controller.rb
index 4d81c67446..a6feb19e42 100644
--- a/app/controllers/rails_admin/main_controller.rb
+++ b/app/controllers/rails_admin/main_controller.rb
@@ -6,26 +6,11 @@ class MainController < RailsAdmin::ApplicationController
 
     layout :get_layout
 
-    before_action :get_model, except: RailsAdmin::Config::Actions.all(:root).collect(&:action_name)
-    before_action :get_object, only: RailsAdmin::Config::Actions.all(:member).collect(&:action_name)
     before_action :check_for_cancel
 
-    RailsAdmin::Config::Actions.all.each do |action|
-      class_eval <<-EOS, __FILE__, __LINE__ + 1
-        def #{action.action_name}
-          action = RailsAdmin::Config::Actions.find('#{action.action_name}'.to_sym)
-          @authorization_adapter.try(:authorize, action.authorization_key, @abstract_model, @object)
-          @action = action.with({controller: self, abstract_model: @abstract_model, object: @object})
-          fail(ActionNotAllowed) unless @action.enabled?
-          @page_name = wording_for(:title)
-
-          instance_eval &@action.controller
-        end
-      EOS
-    end
-
     def bulk_action
-      send(params[:bulk_action]) if params[:bulk_action].in?(RailsAdmin::Config::Actions.all(controller: self, abstract_model: @abstract_model).select(&:bulkable?).collect(&:route_fragment))
+      get_model
+      process(params[:bulk_action]) if params[:bulk_action].in?(RailsAdmin::Config::Actions.all(controller: self, abstract_model: @abstract_model).select(&:bulkable?).collect(&:route_fragment))
     end
 
     def list_entries(model_config = @model_config, auth_scope_key = :index, additional_scope = get_association_scope_from_params, pagination = !(params[:associated_collection] || params[:all] || params[:bulk_ids]))
@@ -39,6 +24,38 @@ def list_entries(model_config = @model_config, auth_scope_key = :index, addition
 
   private
 
+    def action_missing(name, *_args)
+      action = RailsAdmin::Config::Actions.find(name.to_sym)
+      raise AbstractController::ActionNotFound.new("The action '#{name}' could not be found for #{self.class.name}", self, name) unless action
+
+      get_model unless action.root?
+      get_object if action.member?
+      @authorization_adapter.try(:authorize, action.authorization_key, @abstract_model, @object)
+      @action = action.with({controller: self, abstract_model: @abstract_model, object: @object})
+      raise(ActionNotAllowed) unless @action.enabled?
+
+      @page_name = wording_for(:title)
+
+      instance_eval(&@action.controller)
+    end
+
+    def method_missing(name, *args, &block)
+      action = RailsAdmin::Config::Actions.find(name.to_sym)
+      if action
+        action_missing name, *args, &block
+      else
+        super
+      end
+    end
+
+    def respond_to_missing?(sym, include_private)
+      if RailsAdmin::Config::Actions.find(name.to_sym)
+        true
+      else
+        super
+      end
+    end
+
     def get_layout
       "rails_admin/#{request.headers['X-PJAX'] ? 'pjax' : 'application'}"
     end
diff --git a/lib/rails_admin/config.rb b/lib/rails_admin/config.rb
index 4a14c5a2d3..91f00a8bae 100644
--- a/lib/rails_admin/config.rb
+++ b/lib/rails_admin/config.rb
@@ -281,9 +281,12 @@ def parent_controller=(name)
         end
       end
 
-      # Returns action configuration object
+      # Setup actions to be used.
       def actions(&block)
-        RailsAdmin::Config::Actions.instance_eval(&block) if block
+        return unless block
+
+        RailsAdmin::Config::Actions.reset
+        RailsAdmin::Config::Actions.instance_eval(&block)
       end
 
       # Returns all model configurations
@@ -335,14 +338,6 @@ def reset_model(model)
         @registry.delete(key)
       end
 
-      # Reset all models configuration
-      # Used to clear all configurations when reloading code in development.
-      # @see RailsAdmin::Engine
-      # @see RailsAdmin::Config.registry
-      def reset_all_models
-        @registry = {}
-      end
-
       # Perform reset, then load RailsAdmin initializer again
       def reload!
         @initialized = false
diff --git a/lib/rails_admin/engine.rb b/lib/rails_admin/engine.rb
index 5798af543d..278e6571b3 100644
--- a/lib/rails_admin/engine.rb
+++ b/lib/rails_admin/engine.rb
@@ -73,6 +73,9 @@ class Engine < Rails::Engine
       end
 
       RailsAdmin::Config.initialize!
+
+      # Force route reload, since it doesn't reflect RailsAdmin action configuration yet
+      app.reload_routes!
     end
   end
 end
diff --git a/spec/controllers/rails_admin/main_controller_spec.rb b/spec/controllers/rails_admin/main_controller_spec.rb
index 296f5ee97b..a5ecd1bf3c 100644
--- a/spec/controllers/rails_admin/main_controller_spec.rb
+++ b/spec/controllers/rails_admin/main_controller_spec.rb
@@ -183,6 +183,13 @@ def get(action, params)
     end
   end
 
+  describe '#action_missing' do
+    it 'raises error when action is not found' do
+      expect(RailsAdmin::Config::Actions).to receive(:find).and_return(nil)
+      expect { get :index, model_name: 'player' }.to raise_error AbstractController::ActionNotFound
+    end
+  end
+
   describe '#get_collection' do
     let(:team) { FactoryBot.create :team }
     let!(:player) { FactoryBot.create :player, team: team }