diff --git a/axum-debug/CHANGELOG.md b/axum-debug/CHANGELOG.md
index 702e6b5a..492d62ff 100644
--- a/axum-debug/CHANGELOG.md
+++ b/axum-debug/CHANGELOG.md
@@ -7,7 +7,9 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 # Unreleased
 
-- None.
+- Fix `Result<impl IntoResponse, Error>` generating invalid code ([#588])
+
+[#588]: https://github.com/tokio-rs/axum/pull/588
 
 # 0.3.0 (03. December 2021)
 
diff --git a/axum-debug/src/lib.rs b/axum-debug/src/lib.rs
index 36da6bc8..8fe522c4 100644
--- a/axum-debug/src/lib.rs
+++ b/axum-debug/src/lib.rs
@@ -251,6 +251,24 @@ mod debug_handler {
         };
         let span = ty.span();
 
+        let declare_inputs = item_fn
+            .sig
+            .inputs
+            .iter()
+            .filter_map(|arg| match arg {
+                FnArg::Receiver(_) => None,
+                FnArg::Typed(pat_ty) => {
+                    let pat = &pat_ty.pat;
+                    let ty = &pat_ty.ty;
+                    Some(quote! {
+                        let #pat: #ty = panic!();
+                    })
+                }
+            })
+            .collect::<TokenStream>();
+
+        let block = &item_fn.block;
+
         let make_value_name = format_ident!(
             "__axum_debug_check_{}_into_response_make_value",
             item_fn.sig.ident
@@ -259,18 +277,18 @@ mod debug_handler {
         let make = if item_fn.sig.asyncness.is_some() {
             quote_spanned! {span=>
                 #[allow(warnings)]
-                async fn #make_value_name() -> #ty { panic!() }
-            }
-        } else if let syn::Type::ImplTrait(_) = &**ty {
-            // lets just assume it returns `impl Future`
-            quote_spanned! {span=>
-                #[allow(warnings)]
-                fn #make_value_name() -> #ty { async { panic!() } }
+                async fn #make_value_name() -> #ty {
+                    #declare_inputs
+                    #block
+                }
             }
         } else {
             quote_spanned! {span=>
                 #[allow(warnings)]
-                fn #make_value_name() -> #ty { panic!() }
+                fn #make_value_name() -> #ty {
+                    #declare_inputs
+                    #block
+                }
             }
         };
 
@@ -285,7 +303,7 @@ mod debug_handler {
                     let value = #receiver #make_value_name().await;
                     fn check<T>(_: T)
                         where T: ::axum::response::IntoResponse
-                        {}
+                    {}
                     check(value);
                 }
             }
@@ -296,9 +314,11 @@ mod debug_handler {
                     #make
 
                     let value = #make_value_name().await;
+
                     fn check<T>(_: T)
-                        where T: ::axum::response::IntoResponse
+                    where T: ::axum::response::IntoResponse
                     {}
+
                     check(value);
                 }
             }
diff --git a/axum-debug/tests/pass/result_impl_into_response.rs b/axum-debug/tests/pass/result_impl_into_response.rs
new file mode 100644
index 00000000..c35773c7
--- /dev/null
+++ b/axum-debug/tests/pass/result_impl_into_response.rs
@@ -0,0 +1,132 @@
+use axum::{
+    async_trait,
+    extract::{FromRequest, RequestParts},
+    response::IntoResponse,
+};
+use axum_debug::debug_handler;
+
+fn main() {}
+
+#[debug_handler]
+fn concrete_future() -> std::future::Ready<Result<impl IntoResponse, ()>> {
+    std::future::ready(Ok(()))
+}
+
+#[debug_handler]
+fn impl_future() -> impl std::future::Future<Output = Result<impl IntoResponse, ()>> {
+    std::future::ready(Ok(()))
+}
+
+// === no args ===
+
+#[debug_handler]
+async fn handler_no_arg_one() -> Result<impl IntoResponse, ()> {
+    Ok(())
+}
+
+#[debug_handler]
+async fn handler_no_arg_two() -> Result<(), impl IntoResponse> {
+    Err(())
+}
+
+#[debug_handler]
+async fn handler_no_arg_three() -> Result<impl IntoResponse, impl IntoResponse> {
+    Ok::<_, ()>(())
+}
+
+#[debug_handler]
+async fn handler_no_arg_four() -> Result<impl IntoResponse, impl IntoResponse> {
+    Err::<(), _>(())
+}
+
+// === args ===
+
+#[debug_handler]
+async fn handler_one(foo: String) -> Result<impl IntoResponse, ()> {
+    dbg!(foo);
+    Ok(())
+}
+
+#[debug_handler]
+async fn handler_two(foo: String) -> Result<(), impl IntoResponse> {
+    dbg!(foo);
+    Err(())
+}
+
+#[debug_handler]
+async fn handler_three(foo: String) -> Result<impl IntoResponse, impl IntoResponse> {
+    dbg!(foo);
+    Ok::<_, ()>(())
+}
+
+#[debug_handler]
+async fn handler_four(foo: String) -> Result<impl IntoResponse, impl IntoResponse> {
+    dbg!(foo);
+    Err::<(), _>(())
+}
+
+// === no args with receiver ===
+
+struct A;
+
+impl A {
+    #[debug_handler]
+    async fn handler_no_arg_one(self) -> Result<impl IntoResponse, ()> {
+        Ok(())
+    }
+
+    #[debug_handler]
+    async fn handler_no_arg_two(self) -> Result<(), impl IntoResponse> {
+        Err(())
+    }
+
+    #[debug_handler]
+    async fn handler_no_arg_three(self) -> Result<impl IntoResponse, impl IntoResponse> {
+        Ok::<_, ()>(())
+    }
+
+    #[debug_handler]
+    async fn handler_no_arg_four(self) -> Result<impl IntoResponse, impl IntoResponse> {
+        Err::<(), _>(())
+    }
+}
+
+// === args with receiver ===
+
+impl A {
+    #[debug_handler]
+    async fn handler_one(self, foo: String) -> Result<impl IntoResponse, ()> {
+        dbg!(foo);
+        Ok(())
+    }
+
+    #[debug_handler]
+    async fn handler_two(self, foo: String) -> Result<(), impl IntoResponse> {
+        dbg!(foo);
+        Err(())
+    }
+
+    #[debug_handler]
+    async fn handler_three(self, foo: String) -> Result<impl IntoResponse, impl IntoResponse> {
+        dbg!(foo);
+        Ok::<_, ()>(())
+    }
+
+    #[debug_handler]
+    async fn handler_four(self, foo: String) -> Result<impl IntoResponse, impl IntoResponse> {
+        dbg!(foo);
+        Err::<(), _>(())
+    }
+}
+
+#[async_trait]
+impl<B> FromRequest<B> for A
+where
+    B: Send + 'static,
+{
+    type Rejection = ();
+
+    async fn from_request(_req: &mut RequestParts<B>) -> Result<Self, Self::Rejection> {
+        unimplemented!()
+    }
+}