diff --git a/changelog/62932.fixed b/changelog/62932.fixed
index 3eb317d134b2..c4a737a7a0d2 100644
--- a/changelog/62932.fixed
+++ b/changelog/62932.fixed
@@ -31,3 +31,7 @@ but can be previewed now by setting the option `yaml_compatibility` to `3007`:
     instead of `yaml.Dumper`.
   * Dumping a YAML sequence with `salt.utils.yaml.IndentedSafeOrderedDumper`
     will be properly indented.
+  * Dumping an object with an unsupported type via `salt.utils.yaml.safe_dump()`
+    (or via `dump()` with the `SafeOrderedDumper` or `IndentedSafeOrderedDumper`
+    classes) will raise an exception.  (Currently such objects produce a null
+    node.)
diff --git a/doc/topics/troubleshooting/yaml_idiosyncrasies.rst b/doc/topics/troubleshooting/yaml_idiosyncrasies.rst
index f0118bb4fc88..a49d682a2f65 100644
--- a/doc/topics/troubleshooting/yaml_idiosyncrasies.rst
+++ b/doc/topics/troubleshooting/yaml_idiosyncrasies.rst
@@ -23,6 +23,15 @@ unexpected times.
     YAML compatibility warnings can be disabled by setting the
     ``yaml_compatibility_warnings`` option to False.
 
+.. versionchanged:: 3007.0
+
+    Dumping an object of unsupported type to YAML with a one of the safe dumpers
+    (:py:func:`~salt.utils.yaml.safe_dump`, or :py:func:`~salt.utils.yaml.dump`
+    with the :py:class:`~salt.utils.yaml.SafeOrderedDumper` or
+    :py:class:`~salt.utils.yaml.IndentedSafeOrderedDumper` classes) now raises
+    an exception.  Previously it produced a YAML ``NULL`` node.  Set the
+    ``yaml_compatibility`` option to 3006 to revert to the previous behavior.
+
 Spaces vs Tabs
 ==============
 
diff --git a/salt/utils/yamldumper.py b/salt/utils/yamldumper.py
index 54365f092a22..121ac038fa63 100644
--- a/salt/utils/yamldumper.py
+++ b/salt/utils/yamldumper.py
@@ -133,9 +133,7 @@ def _rep_default(self, data):
         return self.represent_scalar("tag:yaml.org,2002:null", "NULL")
 
 
-# TODO: Why does this registration exist?  Isn't it better to raise an exception
-# for unsupported types?
-_CommonMixin.add_representer(None, _CommonMixin._rep_default)
+_CommonMixin.V3006.add_representer(None, _CommonMixin._rep_default)
 _CommonMixin.V3006.add_representer(
     OrderedDict, _CommonMixin._rep_ordereddict_as_plain_map
 )
diff --git a/tests/pytests/unit/utils/test_yaml.py b/tests/pytests/unit/utils/test_yaml.py
index 8f53974f3666..59824b831d7a 100644
--- a/tests/pytests/unit/utils/test_yaml.py
+++ b/tests/pytests/unit/utils/test_yaml.py
@@ -237,6 +237,43 @@ def test_dump_tuple(mktuple, dumpercls):
     assert got == want
 
 
+@pytest.mark.parametrize("obj", [type("Generated", (), {})()])
+@pytest.mark.parametrize(
+    "yaml_compatibility,dumpercls,want",
+    [
+        (
+            3006,
+            salt_yaml.OrderedDumper,
+            "!!python/object:tests.pytests.unit.utils.test_yaml.Generated {}\n",
+        ),
+        # With v3006, sometimes it prints "..." on a new line as an end of
+        # document indicator depending on whether yaml.CSafeDumper is available
+        # on the system or not (yaml.CSafeDumper and yaml.SafeDumper do not
+        # always behave the same).
+        (3006, salt_yaml.SafeOrderedDumper, re.compile(r"NULL\n(?:\.\.\.\n)?")),
+        (3006, salt_yaml.IndentedSafeOrderedDumper, re.compile(r"NULL\n(?:\.\.\.\n)?")),
+        (
+            3007,
+            salt_yaml.OrderedDumper,
+            "!!python/object:tests.pytests.unit.utils.test_yaml.Generated {}\n",
+        ),
+        (3007, salt_yaml.SafeOrderedDumper, yaml.representer.RepresenterError),
+        (3007, salt_yaml.IndentedSafeOrderedDumper, yaml.representer.RepresenterError),
+    ],
+    indirect=["yaml_compatibility"],
+)
+def test_dump_unsupported(yaml_compatibility, dumpercls, obj, want):
+    if isinstance(want, type) and issubclass(want, Exception):
+        with pytest.raises(want):
+            salt_yaml.dump(obj, Dumper=dumpercls)
+    else:
+        got = salt_yaml.dump(obj, Dumper=dumpercls)
+        try:
+            assert want.fullmatch(got)
+        except AttributeError:
+            assert got == want
+
+
 def render_yaml(data):
     """
     Takes a YAML string, puts it into a mock file, passes that to the YAML