diff --git a/deepxde/model.py b/deepxde/model.py
index 48ac2ef46..072462b36 100644
--- a/deepxde/model.py
+++ b/deepxde/model.py
@@ -176,7 +176,9 @@ def losses(losses_fn):
                 losses = [losses]
             # Regularization loss
             if self.net.regularizer is not None:
-                losses.append(tf.losses.get_regularization_loss())
+                losses.append(
+                    tf.losses.get_regularization_loss() + self.net.regularization_loss
+                )
             losses = tf.convert_to_tensor(losses)
             # Weighted losses
             if self.loss_weights is not None:
diff --git a/deepxde/nn/tensorflow_compat_v1/fnn.py b/deepxde/nn/tensorflow_compat_v1/fnn.py
index 74ffb2e5a..4c9689dd3 100644
--- a/deepxde/nn/tensorflow_compat_v1/fnn.py
+++ b/deepxde/nn/tensorflow_compat_v1/fnn.py
@@ -105,16 +105,7 @@ def build(self):
         self.built = True
 
     def _dense(self, inputs, units, activation=None, use_bias=True):
-        # Cannot directly replace tf.layers.dense() with tf.keras.layers.Dense() due to
-        # some differences. One difference is that tf.layers.dense() will add
-        # regularizer loss to the collection REGULARIZATION_LOSSES, but
-        # tf.keras.layers.Dense() will not. Hence, tf.losses.get_regularization_loss()
-        # cannot be used for tf.keras.layers.Dense().
-        # References:
-        # - https://github.com/tensorflow/tensorflow/issues/21587
-        # - https://www.tensorflow.org/guide/migrate
-        return tf.layers.dense(
-            inputs,
+        dense = tf.keras.layers.Dense(
             units,
             activation=activation,
             use_bias=use_bias,
@@ -122,6 +113,10 @@ def _dense(self, inputs, units, activation=None, use_bias=True):
             kernel_regularizer=self.regularizer,
             kernel_constraint=self.kernel_constraint,
         )
+        out = dense(inputs)
+        if self.regularizer:
+            self.regularization_loss += tf.math.add_n(dense.losses)
+        return out
 
     @staticmethod
     def _dense_weightnorm(inputs, units, activation=None, use_bias=True):
diff --git a/deepxde/nn/tensorflow_compat_v1/nn.py b/deepxde/nn/tensorflow_compat_v1/nn.py
index 1b68ae514..9181584d1 100644
--- a/deepxde/nn/tensorflow_compat_v1/nn.py
+++ b/deepxde/nn/tensorflow_compat_v1/nn.py
@@ -11,6 +11,15 @@ class NN:
     def __init__(self):
         self.training = tf.placeholder(tf.bool)
         self.regularizer = None
+        # tf.layers.dense() is not available for TensorFlow 2.16+ with Keras 3. The
+        # corresponding layer is tf.keras.layers.Dense(). However, tf.layers.dense()
+        # adds regularizer loss to the collection REGULARIZATION_LOSSES, which can be
+        # accessed by tf.losses.get_regularization_loss(), but tf.keras.layers.Dense()
+        # adds regularizer loss to Layer.losses. Hence, we use self.regularization_loss
+        # to collect tf.keras.layers.Dense() regularization loss.
+        # References:
+        # - https://github.com/tensorflow/tensorflow/issues/21587
+        self.regularization_loss = 0
 
         self._auxiliary_vars = tf.placeholder(config.real(tf), [None, None])
         self._input_transform = None
diff --git a/docs/user/installation.rst b/docs/user/installation.rst
index 2d2822ae4..2dcf7eede 100644
--- a/docs/user/installation.rst
+++ b/docs/user/installation.rst
@@ -8,7 +8,7 @@ DeepXDE requires one of the following backend-specific dependencies to be instal
 
 - TensorFlow 1.x: `TensorFlow <https://www.tensorflow.org>`_>=2.7.0
 
-    - For TensorFlow 2.16+ with Keras 3, to keep using Keras 2, you can first install `tf-keras <https://pypi.org/project/tf-keras>`_, and then set the environment variable ``TF_USE_LEGACY_KERAS=1`` directly or in your python program with ``import os;os.environ["TF_USE_LEGACY_KERAS"]="1"``. [`Reference <https://keras.io/keras_3>`_]
+    - If you use TensorFlow 2.16+ and have an error with Keras 3, to keep using Keras 2, you can first install `tf-keras <https://pypi.org/project/tf-keras>`_, and then set the environment variable ``TF_USE_LEGACY_KERAS=1`` directly or in your python program with ``import os;os.environ["TF_USE_LEGACY_KERAS"]="1"``. [`Reference <https://keras.io/keras_3>`_]
 
 - TensorFlow 2.x: `TensorFlow <https://www.tensorflow.org>`_>=2.3.0, `TensorFlow Probability <https://www.tensorflow.org/probability>`_>=0.11.0