diff --git a/zod/src/__tests__/__fixtures__/data.ts b/zod/src/__tests__/__fixtures__/data.ts
index 25fa0dd0..f338f1d1 100644
--- a/zod/src/__tests__/__fixtures__/data.ts
+++ b/zod/src/__tests__/__fixtures__/data.ts
@@ -58,7 +58,7 @@ export const validData = {
     },
   ],
   dateStr: '2020-01-01',
-} as any as z.infer<typeof schema>;
+} satisfies z.input<typeof schema>;
 
 export const invalidData = {
   password: '___',
@@ -66,7 +66,7 @@ export const invalidData = {
   birthYear: 'birthYear',
   like: [{ id: 'z' }],
   url: 'abc',
-} as any as z.infer<typeof schema>;
+} as unknown as z.input<typeof schema>;
 
 export const fields: Record<InternalFieldName, Field['_f']> = {
   username: {
diff --git a/zod/src/__tests__/zod.ts b/zod/src/__tests__/zod.ts
index 086f2243..f4a88f01 100644
--- a/zod/src/__tests__/zod.ts
+++ b/zod/src/__tests__/zod.ts
@@ -1,4 +1,4 @@
-import { FieldValues, Resolver, SubmitHandler, useForm } from 'react-hook-form';
+import { Resolver, SubmitHandler, useForm } from 'react-hook-form';
 import { z } from 'zod';
 import { zodResolver } from '..';
 import { fields, invalidData, schema, validData } from './__fixtures__/data';
@@ -99,7 +99,7 @@ describe('zodResolver', () => {
     const resolver = zodResolver(z.object({ id: z.number() }));
 
     expectTypeOf(resolver).toEqualTypeOf<
-      Resolver<FieldValues, unknown, { id: number }>
+      Resolver<{ id: number }, unknown, { id: number }>
     >();
   });
 
@@ -109,7 +109,7 @@ describe('zodResolver', () => {
     );
 
     expectTypeOf(resolver).toEqualTypeOf<
-      Resolver<FieldValues, unknown, { id: string }>
+      Resolver<{ id: number }, unknown, { id: string }>
     >();
   });
 
@@ -145,7 +145,7 @@ describe('zodResolver', () => {
 
   it('should correctly infer the output type from a Zod schema when different input and output types are specified for the handleSubmit function in useForm', () => {
     const { handleSubmit } = useForm<{ id: string }, any, { id: boolean }>({
-      resolver: zodResolver(z.object({ id: z.boolean() })),
+      resolver: zodResolver(z.object({ id: z.string().transform((s) => !!s) })),
     });
 
     expectTypeOf(handleSubmit).parameter(0).toEqualTypeOf<
@@ -154,4 +154,31 @@ describe('zodResolver', () => {
       }>
     >();
   });
+
+  it('should correctly infer the output type from a zod schema using a transform with schemaOptions.raw', () => {
+    const resolver1 = zodResolver(
+      z.object({ id: z.number().transform((val) => String(val)) }),
+      undefined,
+      { raw: true },
+    );
+    expectTypeOf(resolver1).toEqualTypeOf<
+      Resolver<{ id: number }, unknown, { id: number }>
+    >();
+
+    const resolver2 = zodResolver(
+      z.object({ id: z.number().transform((val) => String(val)) }),
+      {},
+      { raw: false },
+    );
+    expectTypeOf(resolver2).toEqualTypeOf<
+      Resolver<{ id: number }, unknown, { id: string }>
+    >();
+
+    const resolver3 = zodResolver(
+      z.object({ id: z.number().transform((val) => String(val)) }),
+    );
+    expectTypeOf(resolver3).toEqualTypeOf<
+      Resolver<{ id: number }, unknown, { id: string }>
+    >();
+  });
 });
diff --git a/zod/src/zod.ts b/zod/src/zod.ts
index bbd29070..14529706 100644
--- a/zod/src/zod.ts
+++ b/zod/src/zod.ts
@@ -1,9 +1,10 @@
 import { toNestErrors, validateFieldsNatively } from '@hookform/resolvers';
 import {
   FieldError,
-  FieldErrors,
   FieldValues,
   Resolver,
+  ResolverError,
+  ResolverSuccess,
   appendErrors,
 } from 'react-hook-form';
 import { ZodError, z } from 'zod';
@@ -80,17 +81,27 @@ function parseErrorSchema(
  *   resolver: zodResolver(schema)
  * });
  */
-export function zodResolver<
-  Input extends FieldValues,
-  Context,
-  Output,
-  Schema extends z.ZodSchema<Output, any, Input> = z.ZodSchema<
-    Output,
-    any,
-    Input
-  >,
->(
-  schema: Schema,
+// passing `resolverOptions.raw: false` (or omitting) you get the transformed output type
+export function zodResolver<Input extends FieldValues, Context, Output>(
+  schema: z.ZodSchema<Output, any, Input>,
+  schemaOptions?: Partial<z.ParseParams>,
+  resolverOptions?: {
+    mode?: 'async' | 'sync';
+    raw?: false;
+  },
+): Resolver<Input, Context, Output>
+// passing `resolverOptions.raw: true` you get back the input type
+export function zodResolver<Input extends FieldValues, Context, Output>(
+  schema: z.ZodSchema<Output, any, Input>,
+  schemaOptions: Partial<z.ParseParams> | undefined,
+  resolverOptions: {
+    mode?: 'async' | 'sync';
+    raw: true;
+  },
+): Resolver<Input, Context, Input>
+// implementation
+export function zodResolver< Input extends FieldValues, Context, Output>(
+  schema: z.ZodSchema<Output, any, Input>,
   schemaOptions?: Partial<z.ParseParams>,
   resolverOptions: {
     mode?: 'async' | 'sync';
@@ -99,24 +110,20 @@ export function zodResolver<
 ): Resolver<
   Input,
   Context,
-  (typeof resolverOptions)['raw'] extends true
-    ? Input
-    : unknown extends Output
-      ? z.output<Schema>
-      : Output
+  Output | Input // consumers never see this type; they only see types from overload signatures
 > {
-  return async (values, _, options) => {
+  return async (values: Input, _, options) => {
     try {
-      const data = await schema[
-        resolverOptions.mode === 'sync' ? 'parse' : 'parseAsync'
-      ](values, schemaOptions);
+      const data = resolverOptions.mode === 'sync'
+        ? schema.parse(values, schemaOptions)
+        : await schema.parseAsync(values, schemaOptions);
 
       options.shouldUseNativeValidation && validateFieldsNatively({}, options);
 
       return {
-        errors: {} as FieldErrors,
+        errors: {},
         values: resolverOptions.raw ? Object.assign({}, values) : data,
-      };
+      } satisfies ResolverSuccess<Input | Output>;
     } catch (error) {
       if (isZodError(error)) {
         return {
@@ -129,7 +136,7 @@ export function zodResolver<
             ),
             options,
           ),
-        };
+        } satisfies ResolverError<Input>;
       }
 
       throw error;