diff --git a/src/useForm.ts b/src/useForm.ts
index 7879cf85..f36e0b10 100644
--- a/src/useForm.ts
+++ b/src/useForm.ts
@@ -38,6 +38,7 @@ import {
   matchNamePath,
   setValue,
 } from './utils/valueUtil';
+import isEqual from 'rc-util/lib/isEqual';
 
 type InvalidateFieldEntity = { INVALIDATE_NAME_PATH: InternalNamePath };
 
@@ -580,15 +581,40 @@ export class FormStore {
       const { name, ...data } = fieldData;
       const namePath = getNamePath(name);
       namePathList.push(namePath);
+      const hasValue = 'value' in data;
+
+      const previousFieldEntity = this.getFieldEntitiesForNamePathList(namePath)[0]
+      let previousFieldMeta: Meta | null = null;
+
+      if (previousFieldEntity && !('INVALIDATE_NAME_PATH' in previousFieldEntity)) {
+        previousFieldMeta = previousFieldEntity.getMeta();
+      }
+
+      let mergeTouched: boolean | undefined = previousFieldMeta?.touched
+
+      if ('touched' in data) {
+        mergeTouched = data.touched;
+      } else if (hasValue && previousFieldMeta !== null) {
+        mergeTouched = !isEqual(this.getFieldValue(namePath), data.value)
+      }
+
+      // Meta
+      const nextFieldMeta: Meta = {
+        ...previousFieldMeta,
+        ...(typeof mergeTouched === 'boolean' ? { touched: mergeTouched } : {})
+      };
 
       // Value
-      if ('value' in data) {
+      if (hasValue) {
         this.updateStore(setValue(this.store, namePath, data.value));
       }
 
       this.notifyObservers(prevStore, [namePath], {
         type: 'setField',
-        data: fieldData,
+        data: {
+          ...nextFieldMeta,
+          ...fieldData,
+        },
       });
     });
 
diff --git a/tests/index.test.tsx b/tests/index.test.tsx
index a9a0e740..d4deaccb 100644
--- a/tests/index.test.tsx
+++ b/tests/index.test.tsx
@@ -952,7 +952,7 @@ describe('Form.Basic', () => {
     });
   });
 
-  it('setFieldValue should always set touched', async () => {
+  it('setFieldsValue should always set touched', async () => {
     const EMPTY_VALUES = { light: '', bamboo: [] };
     const formRef = React.createRef<FormRef>();
 
@@ -997,6 +997,35 @@ describe('Form.Basic', () => {
     expect(formRef.current?.getFieldError('bamboo')).toHaveLength(0);
   });
 
+  // https://github.com/ant-design/ant-design/issues/53981
+  it('setFieldValue should mark the registered fields as touched', async () => {
+    const formRef = React.createRef<FormRef>();
+
+    const Demo: React.FC = () => (
+      <Form ref={formRef}>
+        <Field name="light" rules={[{ required: true }]}>
+          <Input />
+        </Field>
+      </Form>
+    );
+
+    render(<Demo />);
+
+    // Mock error first
+    await act(async () => {
+      await formRef.current?.validateFields().catch(() => {});
+    });
+    expect(formRef.current?.getFieldError('light')).toHaveLength(1);
+    expect(formRef.current?.isFieldTouched('light')).toBeFalsy();
+
+    await act(async () => {
+      formRef.current?.setFieldValue('light', 'Bamboo');
+      await Promise.resolve();
+    });
+    expect(formRef.current?.getFieldError('light')).toHaveLength(0);
+    expect(formRef.current?.isFieldTouched('light')).toBeTruthy();
+  })
+
   it('setFieldValue should reset errors', async () => {
     const formRef = React.createRef<FormRef>();