diff --git a/CHANGELOG.md b/CHANGELOG.md
index d496610c5..a90e1873c 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,10 @@
 # HDMF Changelog
 
+## HDMF 3.9.1 (Upcoming)
+
+### Bug fixes
+- Fixed bug allowing `DynamicTable` to be constructed with empty `id` column when initializing all columns via `AbstractDataChunkIterator` objects. @oruebel [#953](https://github.com/hdmf-dev/hdmf/pull/953)
+
 
 ## HDMF 3.9.0 (August 25, 2023)
 
diff --git a/src/hdmf/common/table.py b/src/hdmf/common/table.py
index cafd8ff16..08901a022 100644
--- a/src/hdmf/common/table.py
+++ b/src/hdmf/common/table.py
@@ -314,7 +314,8 @@ def __init__(self, **kwargs):  # noqa: C901
 
         # All tables must have ElementIdentifiers (i.e. a primary key column)
         # Here, we figure out what to do for that
-        if id is not None:
+        user_provided_ids = (id is not None)
+        if user_provided_ids:
             if not isinstance(id, ElementIdentifiers):
                 id = ElementIdentifiers(name='id', data=id)
         else:
@@ -357,13 +358,22 @@ def __init__(self, **kwargs):  # noqa: C901
                 if isinstance(_data, AbstractDataChunkIterator):
                     colset.pop(c.name, None)
             lens = [len(c) for c in colset.values()]
+            all_columns_are_iterators = (len(lens) == 0)
+
             if not all(i == lens[0] for i in lens):
-                raise ValueError("columns must be the same length")
-            if len(lens) > 0 and lens[0] != len(id):
-                # the first part of this conditional is needed in the
-                # event that all columns are AbstractDataChunkIterators
-                if len(id) > 0:
-                    raise ValueError("must provide same number of ids as length of columns")
+                raise ValueError("Columns must be the same length")
+            # If we have columns given, but all columns are AbstractDataChunkIterator's, then we
+            # cannot determine how many elements the id column will need. I.e., in this case the
+            # user needs to provide the id's as otherwise we may create an invalid table with an
+            # empty Id column but data in the rows. See: https://github.com/hdmf-dev/hdmf/issues/952
+            if all_columns_are_iterators and not user_provided_ids:
+                raise ValueError("Cannot determine row id's for table. Must provide ids with same length "
+                                 "as the columns when all columns are specified via DataChunkIterator objects.")
+            # If we have columns with a known length but the length (i.e., number of rows)
+            # does not match the number of id's then initialize the id's
+            if not all_columns_are_iterators and lens[0] != len(id):
+                if user_provided_ids and len(id) > 0:
+                    raise ValueError("Must provide same number of ids as length of columns")
                 else:  # set ids to: 0 to length of columns - 1
                     id.data.extend(range(lens[0]))
 
diff --git a/tests/unit/common/test_table.py b/tests/unit/common/test_table.py
index 311e01f8b..a6048ce88 100644
--- a/tests/unit/common/test_table.py
+++ b/tests/unit/common/test_table.py
@@ -13,6 +13,7 @@
                          DynamicTableRegion, get_manager, SimpleMultiContainer)
 from hdmf.testing import TestCase, H5RoundTripMixin, remove_test_file
 from hdmf.utils import StrDataset
+from hdmf.data_utils import DataChunkIterator
 
 from tests.unit.helpers.utils import get_temp_filepath
 
@@ -99,10 +100,24 @@ def test_constructor_ElementIdentifier_ids(self):
     def test_constructor_ids_bad_ids(self):
         columns = [VectorData(name=s['name'], description=s['description'], data=d)
                    for s, d in zip(self.spec, self.data)]
-        msg = "must provide same number of ids as length of columns"
+        msg = "Must provide same number of ids as length of columns"
         with self.assertRaisesWith(ValueError, msg):
             DynamicTable(name="with_columns", description='a test table', id=[0, 1], columns=columns)
 
+    def test_constructor_all_columns_are_iterators(self):
+        """
+        All columns are specified via AbstractDataChunkIterator but no id's are given.
+        Test that an error is being raised because we can't determine the id's.
+        """
+        data = np.array([1., 2., 3.])
+        column = VectorData(name="TestColumn", description="", data=DataChunkIterator(data))
+        msg = ("Cannot determine row id's for table. Must provide ids with same length "
+               "as the columns when all columns are specified via DataChunkIterator objects.")
+        with self.assertRaisesWith(ValueError, msg):
+            _ = DynamicTable(name="TestTable", description="", columns=[column])
+        # now test that when we supply id's that the error goes away
+        _ = DynamicTable(name="TestTable", description="", columns=[column], id=list(range(3)))
+
     @unittest.skipIf(not LINKML_INSTALLED, "optional LinkML module is not installed")
     def test_add_col_validate(self):
         terms = TermSet(term_schema_path='tests/unit/example_test_term_set.yaml')
@@ -211,7 +226,7 @@ def test_constructor_bad_columns(self):
     def test_constructor_unequal_length_columns(self):
         columns = [VectorData(name='col1', description='desc', data=[1, 2, 3]),
                    VectorData(name='col2', description='desc', data=[1, 2])]
-        msg = "columns must be the same length"
+        msg = "Columns must be the same length"
         with self.assertRaisesWith(ValueError, msg):
             DynamicTable(name="with_columns", description='a test table', columns=columns)