diff --git a/channels/routing.py b/channels/routing.py
index f48c4d33..66f5fd41 100644
--- a/channels/routing.py
+++ b/channels/routing.py
@@ -1,9 +1,10 @@
 import importlib
+import re
 
 from django.conf import settings
 from django.core.exceptions import ImproperlyConfigured
 from django.urls.exceptions import Resolver404
-from django.urls.resolvers import RegexPattern, RoutePattern, URLResolver
+from django.urls.resolvers import RegexPattern, RoutePattern, URLPattern, URLResolver
 
 """
 All Routing instances inside this file are also valid ASGI applications - with
@@ -52,6 +53,71 @@ async def __call__(self, scope, receive, send):
             )
 
 
+def _parse_resolver(child_url_pattern, parent_resolver, parent_regex, routes):
+    """
+    Parse resolver (returned by `include`) recurrsively
+
+    Parameters
+    ----------
+    child_url_pattern : URLResolver | Any
+        The child url pattern
+    parent_resolver : URLResolver
+        The parent resolver
+    parent_regex : Pattern
+        The parent regex pattern
+    routes : list[URLPattern]
+        The URLPattern's list that stores the routes
+
+    Returns
+    -------
+    list[URLPattern]
+        The URLPattern's list that stores the routes
+    """
+    if isinstance(child_url_pattern, URLResolver):
+        # parse the urls resolved by django's `include` function
+        for url_pattern in child_url_pattern.url_patterns:
+            # call _parse_resolver recurrsively to parse nested URLResolver
+            routes.extend(
+                _parse_resolver(
+                    url_pattern,
+                    child_url_pattern,
+                    parent_resolver.pattern.regex,
+                    routes,
+                )
+            )
+    else:
+        # concatenate parent's url (route) and child's url (url_pattern)
+        regex = "".join(
+            x.pattern
+            for x in [
+                parent_regex,
+                parent_resolver.pattern.regex,
+                child_url_pattern.pattern.regex,
+            ]
+        )
+
+        # Remove the redundant caret ^ which is appended by `path` function
+        regex = re.sub(r"(?<!^)\^", "", regex)
+
+        name = (
+            f"{parent_resolver.app_name}:{child_url_pattern.name}"
+            if child_url_pattern.name
+            else None
+        )
+        pattern = RegexPattern(regex, name=name, is_endpoint=True)
+
+        routes.append(
+            URLPattern(
+                pattern,
+                child_url_pattern.callback,
+                child_url_pattern.default_args,
+                name,
+            )
+        )
+
+    return routes
+
+
 class URLRouter:
     """
     Routes to different applications/consumers based on the URL path.
@@ -67,7 +133,17 @@ class URLRouter:
     _path_routing = True
 
     def __init__(self, routes):
-        self.routes = routes
+        new_routes = []
+        for route in routes:
+            if not route.callback and isinstance(route, URLResolver):
+                # parse the urls resolved by django's `include` function
+                for url_pattern in route.url_patterns:
+                    new_routes.extend(
+                        _parse_resolver(url_pattern, route, re.compile(r""), [])
+                    )
+            else:
+                new_routes.append(route)
+        self.routes = new_routes
 
         for route in self.routes:
             # The inner ASGI app wants to do additional routing, route
diff --git a/docs/topics/routing.rst b/docs/topics/routing.rst
index 983e7ef4..f4c78925 100644
--- a/docs/topics/routing.rst
+++ b/docs/topics/routing.rst
@@ -103,10 +103,29 @@ would do this:
 
     stream = self.scope["url_route"]["kwargs"]["stream"]
 
-Please note that ``URLRouter`` nesting will not work properly with
-``path()`` routes if inner routers are wrapped by additional middleware.
-See `Issue #1428 <https://github.com/django/channels/issues/1428>`__.
 
+You can use [include](https://docs.djangoproject.com/en/5.1/ref/urls/#include) 
+function for nested routings. This is similar as Django's URL routing system. 
+
+Here's an example for nested routings. When you configure the routings in parent ``routings.py``;
+
+.. code-block:: python
+
+    urlpatterns = [
+        path("app1/", include("app1.routings"), name="app1"),
+    ]
+
+and in child ``app1/routings.py``;
+
+.. code-block:: python
+
+    app_name = 'app1'
+
+    urlpatterns = [
+        re_path(r"chats/(\d+)/$", test_app, name="chats"),
+    ]
+
+This would resolve to a path such as ``/app1/chats/5/``.
 
 ChannelNameRouter
 -----------------
diff --git a/tests/conftest.py b/tests/conftest.py
index 94c9803a..27f84603 100644
--- a/tests/conftest.py
+++ b/tests/conftest.py
@@ -1,3 +1,5 @@
+import sys
+
 import pytest
 from django.conf import settings
 
@@ -38,3 +40,14 @@ def samesite(request, settings):
 def samesite_invalid(settings):
     """Set samesite flag to strict."""
     settings.SESSION_COOKIE_SAMESITE = "Hello"
+
+
+@pytest.fixture(autouse=True)
+def mock_modules():
+    """Save original modules for each test and clear a cache"""
+    original_modules = sys.modules.copy()
+    yield
+    sys.modules = original_modules
+    from django.urls.base import _get_cached_resolver
+
+    _get_cached_resolver.cache_clear()
diff --git a/tests/test_routing.py b/tests/test_routing.py
index 99c76790..422f1363 100644
--- a/tests/test_routing.py
+++ b/tests/test_routing.py
@@ -1,5 +1,4 @@
 import pytest
-from django.core.exceptions import ImproperlyConfigured
 from django.urls import path, re_path
 
 from channels.routing import ChannelNameRouter, ProtocolTypeRouter, URLRouter
@@ -302,13 +301,308 @@ async def test_path_remaining():
         )
 
 
-def test_invalid_routes():
+@pytest.mark.asyncio
+async def test_url_router_nesting_by_include():
     """
-    Test URLRouter route validation
+    Tests that nested URLRouters is constructed by include function.
     """
+    import sys
+
     from django.urls import include
+    from django.urls import reverse as django_reverse
+
+    root_urlconf = "__src.routings"
+
+    test_app = MockApplication(return_value=1)
 
-    with pytest.raises(ImproperlyConfigured) as exc:
-        URLRouter([path("", include([]))])
+    # mocking the universe module following the directory structure;
+    # __src
+    # ├── universe
+    # │   └── routings.py
+    # └── routings.py (root)
+
+    # in __src/universe/routings.py
+    # ======================
+    # ...
+    # urlpatterns = [
+    #     re_path(r"book/(?P<book>[\w\-]+)/page/(?P<page>\d+)/$", test_app),
+    #     re_path(r"test/(\d+)/$", test_app),
+    #     path("/home/", test_app),
+    # ]
+    # ======================
+
+    universe_routings = type(sys)("routings")
+    universe_routings.app_name = "universe"
+    universe_routings.urlpatterns = [
+        re_path(r"book/(?P<book>[\w\-]+)/page/(?P<page>\d+)/$", test_app, name="book"),
+        re_path(r"test/(\d+)/$", test_app, name="test"),
+        path("home/", test_app, name="home"),
+    ]
+    universe = type(sys)("universe")
+    universe.routings = universe_routings
+    sys.modules["__src.universe"] = universe
+    sys.modules["__src.universe.routings"] = universe.routings
+
+    # in __src/routings.py (root)
+    # ======================
+    # ...
+    # urlpatterns = [
+    #     path("universe/", include("__src.universe.routings"), name="universe"),
+    #     path("moon/", test_app, name="moon"),
+    #     re_path(r"mars/(\d+)/$", test_app, name="mars"),
+    # ]
+    #
+    # outer_router = URLRouter(urlpatterns)
+    # ======================
+    urlpatterns = [
+        path("universe/", include("__src.universe.routings"), name="universe"),
+        path("moon/", test_app, name="moon"),
+        re_path(r"mars/(\d+)/$", test_app, name="mars"),
+    ]
+    outer_router = URLRouter(urlpatterns)
+
+    src = type(sys)("__src")
+    src.routings = type(sys)("routings")
+    src.routings.urlpatterns = urlpatterns
+    src.routings.outer_router = outer_router
+    sys.modules["__src"] = src
+    sys.modules["__src.routings"] = src.routings
+
+    assert (
+        await outer_router(
+            {
+                "type": "http",
+                "path": "/moon/",
+            },
+            None,
+            None,
+        )
+        == 1
+    )
+    assert django_reverse("moon", urlconf=root_urlconf) == "/moon/"
 
-    assert "include() is not supported in URLRouter." in str(exc)
+    assert (
+        await outer_router(
+            {
+                "type": "http",
+                "path": "/mars/5/",
+            },
+            None,
+            None,
+        )
+        == 1
+    )
+    assert django_reverse("mars", urlconf=root_urlconf, args=(5,)) == "/mars/5/"
+
+    assert (
+        await outer_router(
+            {
+                "type": "http",
+                "path": "/universe/book/channels-guide/page/10/",
+            },
+            None,
+            None,
+        )
+        == 1
+    )
+    assert (
+        django_reverse(
+            "universe:book",
+            urlconf=root_urlconf,
+            kwargs=dict(book="channels-guide", page=10),
+        )
+        == "/universe/book/channels-guide/page/10/"
+    )
+
+    assert (
+        await outer_router(
+            {
+                "type": "http",
+                "path": "/universe/test/10/",
+            },
+            None,
+            None,
+        )
+        == 1
+    )
+    assert (
+        django_reverse("universe:test", urlconf=root_urlconf, args=(10,))
+        == "/universe/test/10/"
+    )
+
+    assert (
+        await outer_router(
+            {
+                "type": "http",
+                "path": "/universe/home/",
+            },
+            None,
+            None,
+        )
+        == 1
+    )
+    assert django_reverse("universe:home", urlconf=root_urlconf) == "/universe/home/"
+
+
+@pytest.mark.asyncio
+async def test_url_router_deep_nesting_by_include():
+    """
+    Tests that deep nested URLRouters is constructed by include function.
+    """
+    import sys
+
+    from django.urls import include
+    from django.urls import reverse as django_reverse
+
+    root_urlconf = "__src.routings"
+
+    test_app = MockApplication(return_value=1)
+
+    # mocking the universe module following the directory structure;
+    # __src
+    # ├── universe
+    # │   ├── routings.py (use include)
+    # │   └── earth
+    # │       └── routings.py
+    # └── routings.py (root; use include)
+
+    # in __src/universe/earth/routings.py
+    # ======================
+    # ...
+    # app_name = "earth"
+    # urlpatterns = [
+    #     re_path(r"book/(?P<book>[\w\-]+)/page/(?P<page>\d+)/$", test_app),
+    #     re_path(r"test/(\d+)/$", test_app),
+    #     path("/home/", test_app),
+    # ]
+    # ======================
+    earth_routings = type(sys)("routings")
+    earth_routings.app_name = "earth"
+    earth_routings.urlpatterns = [
+        re_path(r"book/(?P<book>[\w\-]+)/page/(?P<page>\d+)/$", test_app, name="book"),
+        re_path(r"test/(\d+)/$", test_app, name="test"),
+        path("home/", test_app, name="home"),
+    ]
+    earth = type(sys)("earth")
+    earth.routings = earth_routings
+    sys.modules["__src.universe.earth"] = earth
+    sys.modules["__src.universe.earth.routings"] = earth.routings
+
+    # in __src/universe/routings.py
+    # ======================
+    # ...
+    # app_name = "earth"
+    # urlpatterns = [
+    #     path("earth/", include("__src.universe.earth.routings"), name="earth"),
+    # ]
+    # ======================
+    universe_routings = type(sys)("routings")
+    universe_routings.app_name = "universe"
+    universe_routings.urlpatterns = [
+        path("earth/", include("__src.universe.earth.routings"), name="earth"),
+    ]
+    universe = type(sys)("universe")
+    universe.routings = universe_routings
+    sys.modules["__src.universe"] = universe
+    sys.modules["__src.universe.routings"] = universe.routings
+
+    # in __src/routings.py (root)
+    # ======================
+    # ...
+    # urlpatterns = [
+    #     path("universe/", include("__src.universe.routings"), name="universe"),
+    #     path("moon/", test_app, name="moon"),
+    #     re_path(r"mars/(\d+)/$", test_app, name="mars"),
+    # ]
+    # outer_router = URLRouter(urlpatterns)
+    # ======================
+    urlpatterns = [
+        path("universe/", include("__src.universe.routings"), name="universe"),
+        path("moon/", test_app, name="moon"),
+        re_path(r"mars/(\d+)/$", test_app, name="mars"),
+    ]
+    outer_router = URLRouter(urlpatterns)
+    src = type(sys)("__src")
+    src.routings = type(sys)("routings")
+    src.routings.urlpatterns = urlpatterns
+    src.routings.outer_router = outer_router
+    sys.modules["__src"] = src
+    sys.modules["__src.routings"] = src.routings
+
+    assert (
+        await outer_router(
+            {
+                "type": "http",
+                "path": "/moon/",
+            },
+            None,
+            None,
+        )
+        == 1
+    )
+    assert django_reverse("moon", urlconf=root_urlconf) == "/moon/"
+
+    assert (
+        await outer_router(
+            {
+                "type": "http",
+                "path": "/mars/5/",
+            },
+            None,
+            None,
+        )
+        == 1
+    )
+    assert django_reverse("mars", urlconf=root_urlconf, args=(5,)) == "/mars/5/"
+
+    assert (
+        await outer_router(
+            {
+                "type": "http",
+                "path": "/universe/earth/book/channels-guide/page/10/",
+            },
+            None,
+            None,
+        )
+        == 1
+    )
+    assert (
+        django_reverse(
+            "universe:earth:book",
+            urlconf=root_urlconf,
+            kwargs=dict(book="channels-guide", page=10),
+        )
+        == "/universe/earth/book/channels-guide/page/10/"
+    )
+
+    assert (
+        await outer_router(
+            {
+                "type": "http",
+                "path": "/universe/earth/test/10/",
+            },
+            None,
+            None,
+        )
+        == 1
+    )
+    assert (
+        django_reverse("universe:earth:test", urlconf=root_urlconf, args=(10,))
+        == "/universe/earth/test/10/"
+    )
+
+    assert (
+        await outer_router(
+            {
+                "type": "http",
+                "path": "/universe/earth/home/",
+            },
+            None,
+            None,
+        )
+        == 1
+    )
+    assert (
+        django_reverse("universe:earth:home", urlconf=root_urlconf)
+        == "/universe/earth/home/"
+    )