diff --git a/src/plugins/dashboard/public/dashboard_app/dashboard_app.test.tsx b/src/plugins/dashboard/public/dashboard_app/dashboard_app.test.tsx
new file mode 100644
index 0000000000000..f04528e7bde2c
--- /dev/null
+++ b/src/plugins/dashboard/public/dashboard_app/dashboard_app.test.tsx
@@ -0,0 +1,98 @@
+/*
+ * Copyright Elasticsearch B.V. and/or licensed to Elasticsearch B.V. under one
+ * or more contributor license agreements. Licensed under the "Elastic License
+ * 2.0", the "GNU Affero General Public License v3.0 only", and the "Server Side
+ * Public License v 1"; you may not use this file except in compliance with, at
+ * your election, the "Elastic License 2.0", the "GNU Affero General Public
+ * License v3.0 only", or the "Server Side Public License, v 1".
+ */
+
+import { render, waitFor } from '@testing-library/react';
+import { MemoryHistory, createMemoryHistory } from 'history';
+import React, { useEffect } from 'react';
+import type { DashboardRendererProps } from '../dashboard_container/external_api/dashboard_renderer';
+import { buildMockDashboard } from '../mocks';
+import { DashboardApp } from './dashboard_app';
+
+import * as dashboardRendererStuff from '../dashboard_container/external_api/lazy_dashboard_renderer';
+import { DashboardApi } from '..';
+
+/* These tests circumvent the need to test the router and legacy code
+/* the dashboard app will be passed the expanded panel id from the DashboardRouter through mountApp()
+/* @link https://github.com/elastic/kibana/pull/190086/
+*/
+
+describe('Dashboard App', () => {
+  const mockDashboard = buildMockDashboard();
+  let mockHistory: MemoryHistory;
+  // this is in url_utils dashboardApi expandedPanel subscription
+  let historySpy: jest.SpyInstance;
+  // this is in the dashboard app for the renderer when provided an expanded panel id
+  const expandPanelSpy = jest.spyOn(mockDashboard, 'expandPanel');
+
+  beforeAll(() => {
+    mockHistory = createMemoryHistory();
+    historySpy = jest.spyOn(mockHistory, 'replace');
+
+    /**
+     * Mock the LazyDashboardRenderer component to avoid rendering the actual dashboard
+     * and hitting errors that aren't relevant
+     */
+    jest
+      .spyOn(dashboardRendererStuff, 'LazyDashboardRenderer')
+      // we need overwrite the onApiAvailable prop to get the dashboard Api in the dashboard app
+      .mockImplementation(({ onApiAvailable }: DashboardRendererProps) => {
+        useEffect(() => {
+          onApiAvailable?.(mockDashboard as DashboardApi);
+        }, [onApiAvailable]);
+
+        return <div>Test renderer</div>;
+      });
+  });
+
+  beforeEach(() => {
+    // reset the spies before each test
+    expandPanelSpy.mockClear();
+    historySpy.mockClear();
+  });
+
+  it('test the default behavior without an expandedPanel id passed as a prop to the DashboardApp', async () => {
+    render(<DashboardApp redirectTo={jest.fn()} history={mockHistory} />);
+
+    await waitFor(() => {
+      expect(expandPanelSpy).not.toHaveBeenCalled();
+      // this value should be undefined by default
+      expect(mockDashboard.expandedPanelId.getValue()).toBe(undefined);
+      // history should not be called
+      expect(historySpy).toHaveBeenCalledTimes(0);
+      expect(mockHistory.location.pathname).toBe('/');
+    });
+
+    // simulate expanding a panel
+    mockDashboard.expandPanel('123');
+
+    await waitFor(() => {
+      expect(mockDashboard.expandedPanelId.getValue()).toBe('123');
+      expect(historySpy).toHaveBeenCalledTimes(1);
+      expect(mockHistory.location.pathname).toBe('/create/123');
+    });
+  });
+
+  it('test that the expanded panel behavior subject and history is called when passed as a prop to the DashboardApp', async () => {
+    render(<DashboardApp redirectTo={jest.fn()} history={mockHistory} expandedPanelId="456" />);
+
+    await waitFor(() => {
+      expect(expandPanelSpy).toHaveBeenCalledTimes(1);
+      expect(historySpy).toHaveBeenCalledTimes(0);
+    });
+
+    // simulate minimizing a panel
+    mockDashboard.expandedPanelId.next(undefined);
+
+    await waitFor(() => {
+      expect(mockDashboard.expandedPanelId.getValue()).toBe(undefined);
+      expect(historySpy).toHaveBeenCalledTimes(1);
+      expect(mockHistory.location.pathname).toBe('/create');
+    });
+  });
+});
diff --git a/src/plugins/dashboard/public/dashboard_app/dashboard_app.tsx b/src/plugins/dashboard/public/dashboard_app/dashboard_app.tsx
index fa1b505879090..759d817432c6a 100644
--- a/src/plugins/dashboard/public/dashboard_app/dashboard_app.tsx
+++ b/src/plugins/dashboard/public/dashboard_app/dashboard_app.tsx
@@ -23,7 +23,7 @@ import {
   DashboardAppNoDataPage,
   isDashboardAppInNoDataState,
 } from './no_data/dashboard_app_no_data';
-import { loadAndRemoveDashboardState } from './url/url_utils';
+import { loadAndRemoveDashboardState, startSyncingExpandedPanelState } from './url/url_utils';
 import {
   getSessionURLObservable,
   getSearchSessionIdFromURL,
@@ -53,6 +53,7 @@ export interface DashboardAppProps {
   savedDashboardId?: string;
   redirectTo: DashboardRedirect;
   embedSettings?: DashboardEmbedSettings;
+  expandedPanelId?: string;
 }
 
 export function DashboardApp({
@@ -60,6 +61,7 @@ export function DashboardApp({
   embedSettings,
   redirectTo,
   history,
+  expandedPanelId,
 }: DashboardAppProps) {
   const [showNoDataPage, setShowNoDataPage] = useState<boolean>(false);
   const [regenerateId, setRegenerateId] = useState(uuidv4());
@@ -183,6 +185,12 @@ export function DashboardApp({
     getScreenshotContext,
   ]);
 
+  useEffect(() => {
+    if (!dashboardApi) return;
+    const { stopWatchingExpandedPanel } = startSyncingExpandedPanelState({ dashboardApi, history });
+    return () => stopWatchingExpandedPanel();
+  }, [dashboardApi, history]);
+
   /**
    * When the dashboard container is created, or re-created, start syncing dashboard state with the URL
    */
@@ -221,7 +229,14 @@ export function DashboardApp({
       <DashboardRenderer
         key={regenerateId}
         locator={locator}
-        onApiAvailable={setDashboardApi}
+        onApiAvailable={(dashboard) => {
+          if (dashboard && !dashboardApi) {
+            setDashboardApi(dashboard);
+            if (expandedPanelId) {
+              dashboard?.expandPanel(expandedPanelId);
+            }
+          }
+        }}
         dashboardRedirect={redirectTo}
         savedObjectId={savedDashboardId}
         showPlainSpinner={showPlainSpinner}
diff --git a/src/plugins/dashboard/public/dashboard_app/dashboard_router.tsx b/src/plugins/dashboard/public/dashboard_app/dashboard_router.tsx
index 2c4651c3b2901..8449ed9de1080 100644
--- a/src/plugins/dashboard/public/dashboard_app/dashboard_router.tsx
+++ b/src/plugins/dashboard/public/dashboard_app/dashboard_router.tsx
@@ -101,7 +101,9 @@ export async function mountApp({
     };
   };
 
-  const renderDashboard = (routeProps: RouteComponentProps<{ id?: string }>) => {
+  const renderDashboard = (
+    routeProps: RouteComponentProps<{ id?: string; expandedPanelId?: string }>
+  ) => {
     const routeParams = parse(routeProps.history.location.search);
     if (routeParams.embed === 'true' && !globalEmbedSettings) {
       globalEmbedSettings = getDashboardEmbedSettings(routeParams);
@@ -112,6 +114,7 @@ export async function mountApp({
         embedSettings={globalEmbedSettings}
         savedDashboardId={routeProps.match.params.id}
         redirectTo={redirect}
+        expandedPanelId={routeProps.match.params.expandedPanelId}
       />
     );
   };
@@ -154,7 +157,11 @@ export async function mountApp({
         <HashRouter>
           <Routes>
             <Route
-              path={[CREATE_NEW_DASHBOARD_URL, `${VIEW_DASHBOARD_URL}/:id`]}
+              path={[
+                CREATE_NEW_DASHBOARD_URL,
+                `${VIEW_DASHBOARD_URL}/:id/:expandedPanelId`,
+                `${VIEW_DASHBOARD_URL}/:id`,
+              ]}
               render={renderDashboard}
             />
             <Route exact path={LANDING_PAGE_PATH} render={renderListingPage} />
diff --git a/src/plugins/dashboard/public/dashboard_app/url/url_utils.ts b/src/plugins/dashboard/public/dashboard_app/url/url_utils.ts
index 7fc7d17c55053..09e15abe5eea1 100644
--- a/src/plugins/dashboard/public/dashboard_app/url/url_utils.ts
+++ b/src/plugins/dashboard/public/dashboard_app/url/url_utils.ts
@@ -8,7 +8,9 @@
  */
 
 import _ from 'lodash';
+import { skip } from 'rxjs';
 import semverSatisfies from 'semver/functions/satisfies';
+import { History } from 'history';
 
 import { IKbnUrlStateStorage } from '@kbn/kibana-utils-plugin/public';
 import { replaceUrlHashQuery } from '@kbn/kibana-utils-plugin/common';
@@ -21,9 +23,10 @@ import {
 } from '../../../common';
 import { pluginServices } from '../../services/plugin_services';
 import { getPanelTooOldErrorString } from '../_dashboard_app_strings';
-import { DASHBOARD_STATE_STORAGE_KEY } from '../../dashboard_constants';
+import { DASHBOARD_STATE_STORAGE_KEY, createDashboardEditUrl } from '../../dashboard_constants';
 import { SavedDashboardPanel } from '../../../common/content_management';
 import { migrateLegacyQuery } from '../../services/dashboard_content_management/lib/load_dashboard_state';
+import { DashboardApi } from '../../dashboard_api/types';
 
 /**
  * We no longer support loading panels from a version older than 7.3 in the URL.
@@ -84,3 +87,25 @@ export const loadAndRemoveDashboardState = (
 
   return partialState;
 };
+
+export const startSyncingExpandedPanelState = ({
+  dashboardApi,
+  history,
+}: {
+  dashboardApi: DashboardApi;
+  history: History;
+}) => {
+  const expandedPanelSubscription = dashboardApi?.expandedPanelId
+    // skip the first value because we don't want to trigger a history.replace on initial load
+    .pipe(skip(1))
+    .subscribe((expandedPanelId) => {
+      history.replace({
+        ...history.location,
+        pathname: `${createDashboardEditUrl(dashboardApi.savedObjectId.value)}${
+          Boolean(expandedPanelId) ? `/${expandedPanelId}` : ''
+        }`,
+      });
+    });
+  const stopWatchingExpandedPanel = () => expandedPanelSubscription.unsubscribe();
+  return { stopWatchingExpandedPanel };
+};
diff --git a/test/functional/page_objects/dashboard_page.ts b/test/functional/page_objects/dashboard_page.ts
index c610b417c4323..f6a3aec2eacd5 100644
--- a/test/functional/page_objects/dashboard_page.ts
+++ b/test/functional/page_objects/dashboard_page.ts
@@ -154,8 +154,16 @@ export class DashboardPageObject extends FtrService {
   public getDashboardIdFromUrl(url: string) {
     const urlSubstring = '#/view/';
     const startOfIdIndex = url.indexOf(urlSubstring) + urlSubstring.length;
-    const endIndex = url.indexOf('?');
-    const id = url.substring(startOfIdIndex, endIndex < 0 ? url.length : endIndex);
+    const endIndexOfFilters = url.indexOf('?');
+    const endIndexOfMax = url.substring(startOfIdIndex).indexOf('/');
+    if (endIndexOfMax === -1) {
+      return url.substring(startOfIdIndex, endIndexOfFilters);
+    }
+    const endIndex =
+      endIndexOfFilters + startOfIdIndex > endIndexOfMax
+        ? endIndexOfFilters + startOfIdIndex
+        : endIndexOfMax + startOfIdIndex;
+    const id = url.substring(startOfIdIndex, endIndex < 0 ? url.length : endIndex + startOfIdIndex);
     return id;
   }