diff --git a/CHANGELOG.md b/CHANGELOG.md
index 40239a10..c5c92a97 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -6,6 +6,7 @@
 
 **Features:**
 
+- Print deprecation warnings only on when token decoding succeeds [#601](https://github.com/jwt/ruby-jwt/pull/601) ([@jeremyevans](https://github.com/jeremyevans))
 - Your contribution here
 
 **Fixes and enhancements:**
diff --git a/lib/jwt.rb b/lib/jwt.rb
index 19b987ce..5d6604c2 100644
--- a/lib/jwt.rb
+++ b/lib/jwt.rb
@@ -27,6 +27,18 @@ def encode(payload, key, algorithm = 'HS256', header_fields = {})
   end
 
   def decode(jwt, key = nil, verify = true, options = {}, &keyfinder) # rubocop:disable Style/OptionalBooleanParameter
-    Decode.new(jwt, key, verify, configuration.decode.to_h.merge(options), &keyfinder).decode_segments
+    if (res = Decode.new(jwt, key, verify, configuration.decode.to_h.merge(options), &keyfinder).decode_segments)
+      begin
+        jwt.split('.').each { |part| ::Base64.urlsafe_decode64(part) }
+      rescue ArgumentError
+        issue_warning = true
+      end
+
+      if issue_warning
+        warn('[DEPRECATION WARNING] Invalid base64 input detected, could be because of invalid padding, trailing whitespaces or newline chars. Graceful handling of invalid input will be dropped in the next major version of ruby-jwt', uplevel: 1)
+      end
+    end
+
+    res
   end
 end
diff --git a/lib/jwt/base64.rb b/lib/jwt/base64.rb
index e6ee0622..1e1aa754 100644
--- a/lib/jwt/base64.rb
+++ b/lib/jwt/base64.rb
@@ -19,9 +19,7 @@ def url_decode(str)
         raise unless e.message == 'invalid base64'
         raise Base64DecodeError, 'Invalid base64 encoding' if JWT.configuration.strict_base64_decoding
 
-        loose_urlsafe_decode64(str).tap do
-          Deprecations.warning('Invalid base64 input detected, could be because of invalid padding, trailing whitespaces or newline chars. Graceful handling of invalid input will be dropped in the next major version of ruby-jwt')
-        end
+        loose_urlsafe_decode64(str)
       end
 
       def loose_urlsafe_decode64(str)
diff --git a/spec/jwt/jwt_spec.rb b/spec/jwt/jwt_spec.rb
index 796dabb8..b2ec511a 100644
--- a/spec/jwt/jwt_spec.rb
+++ b/spec/jwt/jwt_spec.rb
@@ -944,4 +944,23 @@ def valid_alg?(alg)
       end
     end
   end
+
+  context 'when invalid token is valid loose base64' do
+    it 'does not output deprecations warnings' do
+      expect {
+        2.times do
+          JWT.decode("#{JWT.encode('a', 'b')} 9", 'b')
+        rescue JWT::VerificationError
+          nil
+        end
+        JWT.decode(JWT.encode('a', 'b'), 'b')
+      }.not_to output(/DEPRECATION/).to_stderr
+    end
+  end
+
+  context 'when valid token is invalid strict base64' do
+    it 'does outputs deprecation warning' do
+      expect { JWT.decode("#{JWT.encode('a', 'b')} ", 'b') }.to output(/DEPRECATION/).to_stderr
+    end
+  end
 end