diff --git a/spring-cloud-gateway-core/src/main/java/org/springframework/cloud/gateway/route/RouteDefinitionRouteLocator.java b/spring-cloud-gateway-core/src/main/java/org/springframework/cloud/gateway/route/RouteDefinitionRouteLocator.java
index acd3f1e6..9870b257 100644
--- a/spring-cloud-gateway-core/src/main/java/org/springframework/cloud/gateway/route/RouteDefinitionRouteLocator.java
+++ b/spring-cloud-gateway-core/src/main/java/org/springframework/cloud/gateway/route/RouteDefinitionRouteLocator.java
@@ -144,7 +144,11 @@ public class RouteDefinitionRouteLocator
 	@Override
 	public Flux<Route> getRoutes() {
 		return this.routeDefinitionLocator.getRouteDefinitions().map(this::convertToRoute)
-				// TODO: error handling
+				.onErrorContinue((error, obj) -> {
+					if (logger.isWarnEnabled()) {
+						logger.warn("RouteDefinition id " + ((RouteDefinition) obj).getId() + " will be ignored. Definition has invalid configs, " + error.getMessage());
+					}
+				})
 				.map(route -> {
 					if (logger.isDebugEnabled()) {
 						logger.debug("RouteDefinition matched: " + route.getId());
diff --git a/spring-cloud-gateway-core/src/test/java/org/springframework/cloud/gateway/route/RouteDefinitionRouteLocatorTests.java b/spring-cloud-gateway-core/src/test/java/org/springframework/cloud/gateway/route/RouteDefinitionRouteLocatorTests.java
index 53da140d..f21a0a83 100644
--- a/spring-cloud-gateway-core/src/test/java/org/springframework/cloud/gateway/route/RouteDefinitionRouteLocatorTests.java
+++ b/spring-cloud-gateway-core/src/test/java/org/springframework/cloud/gateway/route/RouteDefinitionRouteLocatorTests.java
@@ -81,6 +81,59 @@ public class RouteDefinitionRouteLocatorTests {
 				.contains("RouteDefinitionRouteLocatorTests$TestOrderedGateway");
 	}
 
+	@Test
+	public void contextLoadsWithErrorRecovery() {
+		List<RoutePredicateFactory> predicates = Arrays
+				.asList(new HostRoutePredicateFactory());
+		List<GatewayFilterFactory> gatewayFilterFactories = Arrays.asList(
+				new RemoveResponseHeaderGatewayFilterFactory(),
+				new AddResponseHeaderGatewayFilterFactory(),
+				new TestOrderedGatewayFilterFactory());
+		GatewayProperties gatewayProperties = new GatewayProperties();
+		gatewayProperties.setRoutes(containsInvalidRoutes());
+
+		RouteDefinitionRouteLocator routeDefinitionRouteLocator = new RouteDefinitionRouteLocator(
+				new PropertiesRouteDefinitionLocator(gatewayProperties), predicates,
+				gatewayFilterFactories, gatewayProperties,
+				new DefaultConversionService());
+
+		List<Route> routes = routeDefinitionRouteLocator.getRoutes().collectList()
+				.block();
+		List<GatewayFilter> filters = routes.get(0).getFilters();
+		assertThat(filters).hasSize(3);
+		assertThat(getFilterClassName(filters.get(0))).contains("RemoveResponseHeader");
+		assertThat(getFilterClassName(filters.get(1))).contains("AddResponseHeader");
+		assertThat(getFilterClassName(filters.get(2)))
+				.contains("RouteDefinitionRouteLocatorTests$TestOrderedGateway");
+	}
+
+	private List<RouteDefinition> containsInvalidRoutes() {
+		return Arrays.asList(
+				new RouteDefinition() {
+			{
+				setId("foo");
+				setUri(URI.create("https://foo.example.com"));
+				setPredicates(
+						Arrays.asList(new PredicateDefinition("Host=*.example.com")));
+				setFilters(Arrays.asList(
+						new FilterDefinition("RemoveResponseHeader=Server"),
+						new FilterDefinition("TestOrdered="),
+						new FilterDefinition("AddResponseHeader=X-Response-Foo, Bar")));
+			}
+		},
+
+				new RouteDefinition() {
+					{
+						setId("exceptionRaised");
+						setUri(URI.create("https://foo.example.com"));
+						setPredicates(
+								Arrays.asList(new PredicateDefinition("Host=*.example.com")));
+						setFilters(Arrays.asList(new FilterDefinition("Generate exception")));
+					}
+				}
+		                     );
+	}
+
 	private String getFilterClassName(GatewayFilter target) {
 		if (target instanceof OrderedGatewayFilter) {
 			return getFilterClassName(((OrderedGatewayFilter) target).getDelegate());