diff --git a/docs/src/pages/components/expansion-panels/ActionsInExpansionPanelSummary.js b/docs/src/pages/components/expansion-panels/ActionsInExpansionPanelSummary.js
new file mode 100644
index 00000000000000..821f8b8c126287
--- /dev/null
+++ b/docs/src/pages/components/expansion-panels/ActionsInExpansionPanelSummary.js
@@ -0,0 +1,90 @@
+import React from 'react';
+import { makeStyles } from '@material-ui/core/styles';
+import ExpansionPanel from '@material-ui/core/ExpansionPanel';
+import ExpansionPanelSummary from '@material-ui/core/ExpansionPanelSummary';
+import ExpansionPanelDetails from '@material-ui/core/ExpansionPanelDetails';
+import Checkbox from '@material-ui/core/Checkbox';
+import FormControlLabel from '@material-ui/core/FormControlLabel';
+import Typography from '@material-ui/core/Typography';
+import ExpandMoreIcon from '@material-ui/icons/ExpandMore';
+
+const useStyles = makeStyles({
+  root: {
+    width: '100%',
+  },
+});
+
+export default function ActionsInExpansionPanelSummary() {
+  const classes = useStyles();
+
+  return (
+    <div className={classes.root}>
+      <ExpansionPanel>
+        <ExpansionPanelSummary
+          expandIcon={<ExpandMoreIcon />}
+          aria-label="Expand"
+          aria-controls="additional-actions1-content"
+          id="additional-actions1-header"
+        >
+          <FormControlLabel
+            aria-label="Acknowledge"
+            onClick={event => event.stopPropagation()}
+            onFocus={event => event.stopPropagation()}
+            control={<Checkbox />}
+            label="I acknowledge that I should stop the click event propagation"
+          />
+        </ExpansionPanelSummary>
+        <ExpansionPanelDetails>
+          <Typography color="textSecondary">
+            The click event of the nested action will propagate up and expand the panel unless you
+            explicitly stop it.
+          </Typography>
+        </ExpansionPanelDetails>
+      </ExpansionPanel>
+      <ExpansionPanel>
+        <ExpansionPanelSummary
+          expandIcon={<ExpandMoreIcon />}
+          aria-label="Expand"
+          aria-controls="additional-actions2-content"
+          id="additional-actions2-header"
+        >
+          <FormControlLabel
+            aria-label="Acknowledge"
+            onClick={event => event.stopPropagation()}
+            onFocus={event => event.stopPropagation()}
+            control={<Checkbox />}
+            label="I acknowledge that I should stop the focus event propagation"
+          />
+        </ExpansionPanelSummary>
+        <ExpansionPanelDetails>
+          <Typography color="textSecondary">
+            The focus event of the nested action will propagate up and also focus the expansion
+            panel unless you explicitly stop it.
+          </Typography>
+        </ExpansionPanelDetails>
+      </ExpansionPanel>
+      <ExpansionPanel>
+        <ExpansionPanelSummary
+          expandIcon={<ExpandMoreIcon />}
+          aria-label="Expand"
+          aria-controls="additional-actions3-content"
+          id="additional-actions3-header"
+        >
+          <FormControlLabel
+            aria-label="Acknowledge"
+            onClick={event => event.stopPropagation()}
+            onFocus={event => event.stopPropagation()}
+            control={<Checkbox />}
+            label="I acknowledge that I should provide an aria-label on each action that I add"
+          />
+        </ExpansionPanelSummary>
+        <ExpansionPanelDetails>
+          <Typography color="textSecondary">
+            If you forget to put an aria-label on the nested action, the label of the action will
+            also be included in the label of the parent button that controls the panel expansion.
+          </Typography>
+        </ExpansionPanelDetails>
+      </ExpansionPanel>
+    </div>
+  );
+}
diff --git a/docs/src/pages/components/expansion-panels/ActionsInExpansionPanelSummary.tsx b/docs/src/pages/components/expansion-panels/ActionsInExpansionPanelSummary.tsx
new file mode 100644
index 00000000000000..821f8b8c126287
--- /dev/null
+++ b/docs/src/pages/components/expansion-panels/ActionsInExpansionPanelSummary.tsx
@@ -0,0 +1,90 @@
+import React from 'react';
+import { makeStyles } from '@material-ui/core/styles';
+import ExpansionPanel from '@material-ui/core/ExpansionPanel';
+import ExpansionPanelSummary from '@material-ui/core/ExpansionPanelSummary';
+import ExpansionPanelDetails from '@material-ui/core/ExpansionPanelDetails';
+import Checkbox from '@material-ui/core/Checkbox';
+import FormControlLabel from '@material-ui/core/FormControlLabel';
+import Typography from '@material-ui/core/Typography';
+import ExpandMoreIcon from '@material-ui/icons/ExpandMore';
+
+const useStyles = makeStyles({
+  root: {
+    width: '100%',
+  },
+});
+
+export default function ActionsInExpansionPanelSummary() {
+  const classes = useStyles();
+
+  return (
+    <div className={classes.root}>
+      <ExpansionPanel>
+        <ExpansionPanelSummary
+          expandIcon={<ExpandMoreIcon />}
+          aria-label="Expand"
+          aria-controls="additional-actions1-content"
+          id="additional-actions1-header"
+        >
+          <FormControlLabel
+            aria-label="Acknowledge"
+            onClick={event => event.stopPropagation()}
+            onFocus={event => event.stopPropagation()}
+            control={<Checkbox />}
+            label="I acknowledge that I should stop the click event propagation"
+          />
+        </ExpansionPanelSummary>
+        <ExpansionPanelDetails>
+          <Typography color="textSecondary">
+            The click event of the nested action will propagate up and expand the panel unless you
+            explicitly stop it.
+          </Typography>
+        </ExpansionPanelDetails>
+      </ExpansionPanel>
+      <ExpansionPanel>
+        <ExpansionPanelSummary
+          expandIcon={<ExpandMoreIcon />}
+          aria-label="Expand"
+          aria-controls="additional-actions2-content"
+          id="additional-actions2-header"
+        >
+          <FormControlLabel
+            aria-label="Acknowledge"
+            onClick={event => event.stopPropagation()}
+            onFocus={event => event.stopPropagation()}
+            control={<Checkbox />}
+            label="I acknowledge that I should stop the focus event propagation"
+          />
+        </ExpansionPanelSummary>
+        <ExpansionPanelDetails>
+          <Typography color="textSecondary">
+            The focus event of the nested action will propagate up and also focus the expansion
+            panel unless you explicitly stop it.
+          </Typography>
+        </ExpansionPanelDetails>
+      </ExpansionPanel>
+      <ExpansionPanel>
+        <ExpansionPanelSummary
+          expandIcon={<ExpandMoreIcon />}
+          aria-label="Expand"
+          aria-controls="additional-actions3-content"
+          id="additional-actions3-header"
+        >
+          <FormControlLabel
+            aria-label="Acknowledge"
+            onClick={event => event.stopPropagation()}
+            onFocus={event => event.stopPropagation()}
+            control={<Checkbox />}
+            label="I acknowledge that I should provide an aria-label on each action that I add"
+          />
+        </ExpansionPanelSummary>
+        <ExpansionPanelDetails>
+          <Typography color="textSecondary">
+            If you forget to put an aria-label on the nested action, the label of the action will
+            also be included in the label of the parent button that controls the panel expansion.
+          </Typography>
+        </ExpansionPanelDetails>
+      </ExpansionPanel>
+    </div>
+  );
+}
diff --git a/docs/src/pages/components/expansion-panels/DetailedExpansionPanel.js b/docs/src/pages/components/expansion-panels/DetailedExpansionPanel.js
index 4fe1071686225c..21e1709fa6f1c6 100644
--- a/docs/src/pages/components/expansion-panels/DetailedExpansionPanel.js
+++ b/docs/src/pages/components/expansion-panels/DetailedExpansionPanel.js
@@ -73,7 +73,7 @@ export default function DetailedExpansionPanel() {
             <Typography variant="caption">
               Select your destination of choice
               <br />
-              <a href="#sub-labels-and-columns" className={classes.link}>
+              <a href="#secondary-heading-and-columns" className={classes.link}>
                 Learn more
               </a>
             </Typography>
diff --git a/docs/src/pages/components/expansion-panels/DetailedExpansionPanel.tsx b/docs/src/pages/components/expansion-panels/DetailedExpansionPanel.tsx
index 8f6b7ff870c67b..12d73dbdafd5f5 100644
--- a/docs/src/pages/components/expansion-panels/DetailedExpansionPanel.tsx
+++ b/docs/src/pages/components/expansion-panels/DetailedExpansionPanel.tsx
@@ -75,7 +75,7 @@ export default function DetailedExpansionPanel() {
             <Typography variant="caption">
               Select your destination of choice
               <br />
-              <a href="#sub-labels-and-columns" className={classes.link}>
+              <a href="#secondary-heading-and-columns" className={classes.link}>
                 Learn more
               </a>
             </Typography>
diff --git a/docs/src/pages/components/expansion-panels/expansion-panels.md b/docs/src/pages/components/expansion-panels/expansion-panels.md
index f4446e19975a16..ca84c269dcbf4c 100644
--- a/docs/src/pages/components/expansion-panels/expansion-panels.md
+++ b/docs/src/pages/components/expansion-panels/expansion-panels.md
@@ -28,6 +28,15 @@ Here is an example of customizing the component. You can learn more about this i
 
 {{"demo": "pages/components/expansion-panels/CustomizedExpansionPanels.js"}}
 
+## Additional actions
+
+In order to put an action such as a `Checkbox` or a button inside of the `ExpansionPanelSummary`, you need to stop the propagation of the focus and click events to prevent the panel from
+expanding/collapsing when using the action.
+You should also provide an `aria-label` for the action, otherwise the label of the nested action will be included in
+the label of the parent button that controls the panel expansion.
+
+{{"demo": "pages/components/expansion-panels/ActionsInExpansionPanelSummary.js"}}
+
 ## Performance
 
 The content of ExpansionPanels is mounted by default even if the panel is not expanded.
diff --git a/packages/material-ui/src/ExpansionPanelSummary/ExpansionPanelSummary.js b/packages/material-ui/src/ExpansionPanelSummary/ExpansionPanelSummary.js
index 81d71a8ff81b4c..5d3227e2db020a 100644
--- a/packages/material-ui/src/ExpansionPanelSummary/ExpansionPanelSummary.js
+++ b/packages/material-ui/src/ExpansionPanelSummary/ExpansionPanelSummary.js
@@ -1,3 +1,4 @@
+/* eslint-disable jsx-a11y/aria-role */
 import React from 'react';
 import PropTypes from 'prop-types';
 import clsx from 'clsx';
@@ -128,13 +129,13 @@ const ExpansionPanelSummary = React.forwardRef(function ExpansionPanelSummary(pr
       <div className={clsx(classes.content, { [classes.expanded]: expanded })}>{children}</div>
       {expandIcon && (
         <IconButton
-          disabled={disabled}
           className={clsx(classes.expandIcon, {
             [classes.expanded]: expanded,
           })}
           edge="end"
           component="div"
-          tabIndex={-1}
+          tabIndex={null}
+          role={null}
           aria-hidden
           {...IconButtonProps}
         >
diff --git a/packages/material-ui/src/ExpansionPanelSummary/ExpansionPanelSummary.test.js b/packages/material-ui/src/ExpansionPanelSummary/ExpansionPanelSummary.test.js
index 73c129ef216b3a..ce91479de99bad 100644
--- a/packages/material-ui/src/ExpansionPanelSummary/ExpansionPanelSummary.test.js
+++ b/packages/material-ui/src/ExpansionPanelSummary/ExpansionPanelSummary.test.js
@@ -38,25 +38,21 @@ describe('<ExpansionPanelSummary />', () => {
     expect(getByRole('button')).to.have.class(classes.disabled);
   });
 
-  it('when expanded adds the expanded class to any button regardless of a11y', () => {
-    const { getAllByRole } = render(<ExpansionPanelSummary expanded expandIcon="expand" />);
-
-    const buttons = getAllByRole('button', { hidden: true });
-    expect(buttons).to.have.length(2);
-    expect(buttons[0]).to.have.class(classes.expanded);
-    expect(buttons[0]).to.have.attribute('aria-expanded', 'true');
-    expect(buttons[0]).not.to.be.inaccessible;
-    expect(buttons[1]).to.have.class(classes.expanded);
-    expect(buttons[1]).to.be.inaccessible;
+  it('when expanded adds the expanded class to the button and expandIcon', () => {
+    const { container, getByRole } = render(<ExpansionPanelSummary expanded expandIcon="expand" />);
+
+    const button = getByRole('button');
+    expect(button).to.have.class(classes.expanded);
+    expect(button).to.have.attribute('aria-expanded', 'true');
+    expect(container.querySelector(`.${classes.expandIcon}`)).to.have.class(classes.expanded);
   });
 
-  it('should render with the expand icon and have the expandIcon class', () => {
-    const { getAllByRole } = render(<ExpansionPanelSummary expandIcon={<div>Icon</div>} />);
+  it('should render with an inaccessible expand icon and have the expandIcon class', () => {
+    const { container } = render(<ExpansionPanelSummary expandIcon={<div>Icon</div>} />);
 
-    const expandButton = getAllByRole('button', { hidden: true })[1];
-    expect(expandButton).to.have.class(classes.expandIcon);
-    expect(expandButton).to.have.text('Icon');
-    expect(expandButton).to.be.inaccessible;
+    const expandIcon = container.querySelector(`.${classes.expandIcon}`);
+    expect(expandIcon).to.have.text('Icon');
+    expect(expandIcon).to.be.inaccessible;
   });
 
   it('focusing adds the `focused` class if focused visible', () => {