diff --git a/src/material/badge/badge.spec.ts b/src/material/badge/badge.spec.ts
index 7c5a6ca9da22..3429ebcf2055 100644
--- a/src/material/badge/badge.spec.ts
+++ b/src/material/badge/badge.spec.ts
@@ -243,16 +243,16 @@ describe('MatBadge', () => {
       badgeHostNativeElement = badgeHostDebugElement.nativeElement;
     });
 
-    it('should insert the description inline after the host', () => {
+    it('should insert description as next sibling for host', () => {
       testComponent.description.set('Extra info');
       fixture.detectChanges();
 
-      const inlineDescription = badgeHostNativeElement.querySelector('.cdk-visually-hidden')!;
+      const inlineDescription = badgeHostNativeElement.nextSibling!;
       expect(inlineDescription)
         .withContext('A visually hidden description element should exist')
         .toBeDefined();
       expect(inlineDescription.textContent)
-        .withContext('The badge host next sibling should contain its description')
+        .withContext('The badge next sibling should contain its description')
         .toBe('Extra info');
 
       testComponent.description.set('Different info');
@@ -263,7 +263,7 @@ describe('MatBadge', () => {
         .toBe('Different info');
     });
 
-    it('should not apply aria-describedby for non-interactive hosts', () => {
+    it('should not apply aria-describedby for non-interactive host', () => {
       testComponent.description.set('Extra info');
       fixture.detectChanges();
 
@@ -271,6 +271,26 @@ describe('MatBadge', () => {
         .withContext('Non-interactive hosts should not have aria-describedby')
         .toBeFalse();
     });
+
+    it('should not insert description as next sibling if description is not provided', () => {
+      fixture.detectChanges();
+
+      expect(badgeHostNativeElement.nextSibling).toBeFalsy();
+    });
+
+    it('should not create multiple description elements if description changes', () => {
+      testComponent.description.set('one');
+      fixture.detectChanges();
+
+      let siblings = fixture.nativeElement.querySelectorAll('.cdk-visually-hidden');
+      expect(siblings.length).toBe(1);
+
+      testComponent.description.set('two');
+      fixture.detectChanges();
+
+      siblings = fixture.nativeElement.querySelectorAll('.cdk-visually-hidden');
+      expect(siblings.length).toBe(1);
+    });
   });
 });
 
diff --git a/src/material/badge/badge.ts b/src/material/badge/badge.ts
index 806f2146d192..89c55c0575cd 100644
--- a/src/material/badge/badge.ts
+++ b/src/material/badge/badge.ts
@@ -164,20 +164,6 @@ export class MatBadge implements OnInit, OnDestroy {
       if (nativeElement.nodeType !== nativeElement.ELEMENT_NODE) {
         throw Error('matBadge must be attached to an element node.');
       }
-
-      // Heads-up for developers to avoid putting matBadge on <mat-icon>
-      // as it is aria-hidden by default docs mention this at:
-      // https://material.angular.io/components/badge/overview#accessibility
-      if (
-        nativeElement.tagName.toLowerCase() === 'mat-icon' &&
-        nativeElement.getAttribute('aria-hidden') === 'true'
-      ) {
-        console.warn(
-          `Detected a matBadge on an "aria-hidden" "<mat-icon>". ` +
-            `Consider setting aria-hidden="false" in order to surface the information assistive technology.` +
-            `\n${nativeElement.outerHTML}`,
-        );
-      }
     }
   }
 
@@ -310,6 +296,9 @@ export class MatBadge implements OnInit, OnDestroy {
   }
 
   private _updateInlineDescription() {
+    // We do not need to need empty description element for non interactive elements.
+    if (!this.description) return;
+
     // Create the inline description element if it doesn't exist
     if (!this._inlineBadgeDescription) {
       this._inlineBadgeDescription = this._document.createElement('span');
@@ -317,7 +306,13 @@ export class MatBadge implements OnInit, OnDestroy {
     }
 
     this._inlineBadgeDescription.textContent = this.description;
-    this._badgeElement?.appendChild(this._inlineBadgeDescription);
+    // We want to add the inline description element right after the not interactive element that
+    // badge is on therefore we can't use appendChild here as they will keep getting stacked in
+    // last.
+    this._elementRef.nativeElement.parentNode?.insertBefore(
+      this._inlineBadgeDescription,
+      this._elementRef.nativeElement.nextSibling,
+    );
   }
 
   private _removeInlineDescription() {