diff --git a/src/cargo/core/workspace.rs b/src/cargo/core/workspace.rs
index ccde5b9ecce..2a05ace132e 100644
--- a/src/cargo/core/workspace.rs
+++ b/src/cargo/core/workspace.rs
@@ -538,14 +538,26 @@ impl<'cfg> Workspace<'cfg> {
             None
         };
 
-        for path in members_paths {
+        for path in &members_paths {
             self.find_path_deps(&path.join("Cargo.toml"), &root_manifest_path, false)?;
         }
 
         if let Some(default) = default_members_paths {
             for path in default {
-                let manifest_path = paths::normalize_path(&path.join("Cargo.toml"));
+                let normalized_path = paths::normalize_path(&path);
+                let manifest_path = normalized_path.join("Cargo.toml");
                 if !self.members.contains(&manifest_path) {
+                    // default-members are allowed to be excluded, but they
+                    // still must be referred to by the original (unfiltered)
+                    // members list. Note that we aren't testing against the
+                    // manifest path, both because `members_paths` doesn't
+                    // include `/Cargo.toml`, and because excluded paths may not
+                    // be crates.
+                    let exclude = members_paths.contains(&normalized_path)
+                        && workspace_config.is_excluded(&normalized_path);
+                    if exclude {
+                        continue;
+                    }
                     anyhow::bail!(
                         "package `{}` is listed in workspace’s default-members \
                          but is not a member.",
diff --git a/tests/testsuite/workspaces.rs b/tests/testsuite/workspaces.rs
index 42ba045a6ab..e620c975d18 100644
--- a/tests/testsuite/workspaces.rs
+++ b/tests/testsuite/workspaces.rs
@@ -1628,6 +1628,96 @@ fn exclude_but_also_depend() {
     assert!(p.root().join("foo/bar/target").is_dir());
 }
 
+#[cargo_test]
+fn excluded_default_members_still_must_be_members() {
+    let p = project()
+        .file(
+            "Cargo.toml",
+            r#"
+            [workspace]
+            members = ["foo"]
+            default-members = ["foo", "bar"]
+            exclude = ["bar"]
+        "#,
+        )
+        .file("foo/Cargo.toml", &basic_manifest("foo", "0.1.0"))
+        .file("foo/src/lib.rs", "")
+        .file("bar/something.txt", "");
+    let p = p.build();
+    p.cargo("build")
+        .with_status(101)
+        .with_stderr(
+            "\
+error: package `[..]bar` is listed in workspace’s default-members \
+but is not a member.
+",
+        )
+        .run();
+}
+
+#[cargo_test]
+fn excluded_default_members_crate_glob() {
+    let p = project()
+        .file(
+            "Cargo.toml",
+            r#"
+            [workspace]
+            members = ["foo", "bar/*"]
+            default-members = ["bar/*"]
+            exclude = ["bar/quux"]
+        "#,
+        )
+        .file("foo/Cargo.toml", &basic_manifest("foo", "0.1.0"))
+        .file("foo/src/main.rs", "fn main() {}")
+        .file("bar/baz/Cargo.toml", &basic_manifest("baz", "0.1.0"))
+        .file("bar/baz/src/main.rs", "fn main() {}")
+        .file("bar/quux/Cargo.toml", &basic_manifest("quux", "0.1.0"))
+        .file("bar/quux/src/main.rs", "fn main() {}");
+
+    let p = p.build();
+    p.cargo("build").run();
+
+    assert!(p.root().join("target").is_dir());
+    assert!(!p.bin("foo").is_file());
+    assert!(p.bin("baz").is_file());
+    assert!(!p.bin("quux").exists());
+
+    p.cargo("build --workspace").run();
+    assert!(p.root().join("target").is_dir());
+    assert!(p.bin("foo").is_file());
+    assert!(!p.bin("quux").exists());
+
+    p.cargo("build").cwd("bar/quux").run();
+    assert!(p.root().join("bar/quux/target").is_dir());
+}
+
+#[cargo_test]
+fn excluded_default_members_not_crate_glob() {
+    let p = project()
+        .file(
+            "Cargo.toml",
+            r#"
+            [workspace]
+            members = ["foo", "bar/*"]
+            default-members = ["bar/*"]
+            exclude = ["bar/docs"]
+        "#,
+        )
+        .file("foo/Cargo.toml", &basic_manifest("foo", "0.1.0"))
+        .file("foo/src/main.rs", "fn main() {}")
+        .file("bar/baz/Cargo.toml", &basic_manifest("baz", "0.1.0"))
+        .file("bar/baz/src/main.rs", "fn main() {}")
+        .file("bar/docs/readme.txt", "This folder is not a crate!");
+
+    let p = p.build();
+    p.cargo("build").run();
+
+    assert!(!p.bin("foo").is_file());
+    assert!(p.bin("baz").is_file());
+    p.cargo("build --workspace").run();
+    assert!(p.bin("foo").is_file());
+}
+
 #[cargo_test]
 fn glob_syntax() {
     let p = project()