diff --git a/eslint/babel-eslint-parser/acorn-to-esprima.js b/eslint/babel-eslint-parser/acorn-to-esprima.js
index 4c12108574..c0d02a5392 100644
--- a/eslint/babel-eslint-parser/acorn-to-esprima.js
+++ b/eslint/babel-eslint-parser/acorn-to-esprima.js
@@ -190,10 +190,6 @@ var astTransformVisitor = {
       delete node.argument;
     }
 
-    if (this.isRestElement()) {
-      return node.argument;
-    }
-
     // flow: prevent "no-undef"
     // for "Component" in: "let x: React.Component"
     if (this.isQualifiedTypeIdentifier()) {
diff --git a/eslint/babel-eslint-parser/test/babel-eslint.js b/eslint/babel-eslint-parser/test/babel-eslint.js
index 9f0b285068..05983d9982 100644
--- a/eslint/babel-eslint-parser/test/babel-eslint.js
+++ b/eslint/babel-eslint-parser/test/babel-eslint.js
@@ -35,27 +35,29 @@ function parseAndAssertSame(code) {
   var esAST = espree.parse(code, {
     ecmaFeatures: {
       arrowFunctions: true,
-      blockBindings: true,
-      destructuring: true,
-      regexYFlag: true,
-      regexUFlag: true,
-      templateStrings: true,
       binaryLiterals: true,
-      octalLiterals: true,
-      unicodeCodePointEscapes: true,
+      blockBindings: true,
+      classes: true,
       defaultParams: true,
-      restParams: true,
+      destructuring: true,
       forOf: true,
+      generators: true,
+      modules: true,
       objectLiteralComputedProperties: true,
+      objectLiteralDuplicateProperties: true,
       objectLiteralShorthandMethods: true,
       objectLiteralShorthandProperties: true,
-      objectLiteralDuplicateProperties: true,
-      generators: true,
+      octalLiterals: true,
+      regexUFlag: true,
+      regexYFlag: true,
+      restParams: true,
       spread: true,
-      classes: true,
-      modules: true,
+      superInFunctions: true,
+      templateStrings: true,
+      unicodeCodePointEscapes: true,
+      globalReturn: true,
       jsx: true,
-      globalReturn: true
+      experimentalObjectRestSpread: true,
     },
     tokens: true,
     loc: true,
diff --git a/eslint/babel-eslint-parser/test/non-regression.js b/eslint/babel-eslint-parser/test/non-regression.js
index 4683dc6f36..1dc559b8b1 100644
--- a/eslint/babel-eslint-parser/test/non-regression.js
+++ b/eslint/babel-eslint-parser/test/non-regression.js
@@ -1273,4 +1273,11 @@ describe("verify", function () {
       [ ]
     )
   });
+
+  it("no no-undef error with rest #11", function () {
+    verifyAndAssertMessages("const [a, ...rest] = ['1', '2', '3']; a; rest;",
+      { "no-undef": 1, "no-unused-vars": 1 },
+      [ ]
+    )
+  });
 });