diff --git a/packages/nx/src/tasks-runner/create-task-graph.spec.ts b/packages/nx/src/tasks-runner/create-task-graph.spec.ts
index 9ee524d83bf71..674824a375b76 100644
--- a/packages/nx/src/tasks-runner/create-task-graph.spec.ts
+++ b/packages/nx/src/tasks-runner/create-task-graph.spec.ts
@@ -1443,4 +1443,62 @@ describe('createTaskGraph', () => {
       },
     });
   });
+
+  it('should handle glob patterns in dependsOn', () => {
+    const graph: ProjectGraph = {
+      nodes: {
+        app1: {
+          name: 'app1',
+          type: 'app',
+          data: {
+            root: 'app1-root',
+            files: [],
+            targets: {
+              build: {
+                executor: 'nx:run-commands',
+                dependsOn: [{ target: 'build', projects: 'lib*' }],
+              },
+            },
+          },
+        },
+        lib1: {
+          name: 'lib1',
+          type: 'lib',
+          data: {
+            root: 'lib1-root',
+            files: [],
+            targets: {
+              build: {
+                executor: 'nx:run-commands',
+              },
+            },
+          },
+        },
+        lib2: {
+          name: 'lib2',
+          type: 'lib',
+          data: {
+            root: 'lib2-root',
+            files: [],
+            targets: {
+              build: {
+                executor: 'nx:run-commands',
+              },
+            },
+          },
+        },
+      },
+      dependencies: {
+        app1: [],
+      },
+    };
+    const taskGraph = createTaskGraph(graph, {}, ['app1'], ['build'], null, {});
+    expect(taskGraph.tasks).toHaveProperty('app1:build');
+    expect(taskGraph.tasks).toHaveProperty('lib1:build');
+    expect(taskGraph.tasks).toHaveProperty('lib2:build');
+    expect(taskGraph.dependencies['app1:build']).toEqual([
+      'lib1:build',
+      'lib2:build',
+    ]);
+  });
 });
diff --git a/packages/nx/src/tasks-runner/create-task-graph.ts b/packages/nx/src/tasks-runner/create-task-graph.ts
index 9022b7906a789..f3df1821c075b 100644
--- a/packages/nx/src/tasks-runner/create-task-graph.ts
+++ b/packages/nx/src/tasks-runner/create-task-graph.ts
@@ -7,6 +7,8 @@ import {
 import { Task, TaskGraph } from '../config/task-graph';
 import { TargetDependencies } from '../config/nx-json';
 import { TargetDependencyConfig } from '../devkit-exports';
+import { findMatchingProjects } from '../utils/find-matching-projects';
+import { output } from '../utils/output';
 
 export class ProcessTasks {
   private readonly seen = new Set<string>();
@@ -168,20 +170,33 @@ export class ProcessTasks {
         // Since we need to maintain support for dependencies, it is more coherent
         // that we also support self.
         // TODO(@agentender): Remove this part in v17
-        const projectName =
+        const matchingProjects =
+          /** LERNA SUPPORT START - Remove in v17 */
           projectSpecifier === 'self' &&
           !this.projectGraph.nodes[projectSpecifier]
-            ? task.target.project
-            : projectSpecifier;
+            ? [task.target.project]
+            : /** LERNA SUPPORT END */
+              findMatchingProjects([projectSpecifier], this.projectGraph.nodes);
 
-        this.processTasksForSingleProject(
-          task,
-          projectName,
-          dependencyConfig,
-          configuration,
-          taskOverrides,
-          overrides
-        );
+        if (matchingProjects.length === 0) {
+          output.warn({
+            title: `\`dependsOn\` is misconfigured for ${task.target.project}:${task.target.target}`,
+            bodyLines: [
+              `Project pattern "${projectSpecifier}" does not match any projects.`,
+            ],
+          });
+        }
+
+        for (const projectName of matchingProjects) {
+          this.processTasksForSingleProject(
+            task,
+            projectName,
+            dependencyConfig,
+            configuration,
+            taskOverrides,
+            overrides
+          );
+        }
       }
     }
   }
diff --git a/packages/nx/src/tasks-runner/utils.ts b/packages/nx/src/tasks-runner/utils.ts
index 0583cb104a2f1..a2127db4f8993 100644
--- a/packages/nx/src/tasks-runner/utils.ts
+++ b/packages/nx/src/tasks-runner/utils.ts
@@ -37,25 +37,6 @@ export function getDependencyConfigs(
       : config
   );
   for (const dependencyConfig of dependencyConfigs) {
-    const specifiers =
-      typeof dependencyConfig.projects === 'string'
-        ? [dependencyConfig.projects]
-        : dependencyConfig.projects;
-    for (const specifier of specifiers ?? []) {
-      if (
-        !(specifier in projectGraph.nodes) &&
-        // Todo(@agentender): Remove the check for self / dependencies in v17
-        !['self', 'dependencies'].includes(specifier)
-      ) {
-        output.error({
-          title: `dependsOn is improperly configured for ${project}:${target}`,
-          bodyLines: [
-            `${specifier} in dependsOn.projects is invalid. It should be "self", "dependencies", or a project name.`,
-          ],
-        });
-        process.exit(1);
-      }
-    }
     if (dependencyConfig.projects && dependencyConfig.dependencies) {
       output.error({
         title: `dependsOn is improperly configured for ${project}:${target}`,