diff --git a/lib/models/os.ts b/lib/models/os.ts
index dd5c27231..b22db27ec 100644
--- a/lib/models/os.ts
+++ b/lib/models/os.ts
@@ -30,7 +30,7 @@ import type {
 import { InjectedDependenciesParam, InjectedOptionsParam } from '..';
 import { getAuthDependentMemoize } from '../util/cache';
 
-const BALENAOS_VERSION_REGEX = /v?\d+\.\d+\.\d+(\.rev\d+)?((\-|\+).+)?/;
+const BALENAOS_VERSION_REGEX = /^\d+\.\d+\.\d+(\+rev\d+)?(\.(dev|prod))?$/;
 
 const getOsModel = function (
 	deps: InjectedDependenciesParam,
@@ -159,7 +159,7 @@ const getOsModel = function (
 		}
 		const vNormalized = v[0] === 'v' ? v.substring(1) : v;
 		if (!BALENAOS_VERSION_REGEX.test(vNormalized)) {
-			throw new Error(`Invalid semver version: ${v}`);
+			throw new Error(`Invalid balenaOS version format: ${v}`);
 		}
 		return vNormalized;
 	};
diff --git a/tests/integration/models/os.spec.ts b/tests/integration/models/os.spec.ts
index dea0cb7dc..0de987794 100644
--- a/tests/integration/models/os.spec.ts
+++ b/tests/integration/models/os.spec.ts
@@ -450,6 +450,49 @@ describe('OS model', function () {
 				const promise = balena.models.os.download('foo-bar-baz');
 				return expect(promise).to.be.rejectedWith('No such device type');
 			}));
+
+		describe('given well formed and malformed balenaOS versions', () => {
+			it('should reject malformed versions with an error', async () => {
+				const versions = [
+					'2.60.1+foo',
+					'2.60.1-foo',
+					'2.60.1.foo',
+					'2.60.1+rev',
+					'2.60.1+rev1+foo',
+					'2.60.1+rev1-foo',
+					'2.60.1+rev1.foo',
+					'2.60.1+rev1.dev.foo',
+					'2.60.1+rev1.prod.foo',
+				];
+				for (const version of [...versions]) {
+					versions.push(`v${version}`);
+				}
+				for (const version of versions) {
+					await expect(
+						balena.models.os.download('raspberry-pi', version),
+					).to.be.rejectedWith(`Invalid balenaOS version format: ${version}`);
+				}
+			});
+
+			it('should accept well formed versions', async () => {
+				const versions = [
+					'0.0.1',
+					'0.0.1.dev',
+					'0.0.1.prod',
+					'0.0.1+rev1',
+					'0.0.1+rev1.dev',
+					'0.0.1+rev1.prod',
+				];
+				for (const version of [...versions]) {
+					versions.push(`v${version}`);
+				}
+				for (const version of versions) {
+					await expect(
+						balena.models.os.download('raspberry-pi', version),
+					).to.be.rejectedWith(`No such version for the device type`);
+				}
+			});
+		});
 	});
 
 	describe('balena.models.os.isSupportedOsUpdate()', function () {