diff --git a/rest_framework/serializers.py b/rest_framework/serializers.py
index eae6a0b2e..693c7b6ac 100644
--- a/rest_framework/serializers.py
+++ b/rest_framework/serializers.py
@@ -1296,6 +1296,10 @@ class ModelSerializer(Serializer):
             field_kwargs['slug_field'] = to_field
             field_class = self.serializer_related_to_field
 
+        # `pk_field` is only valid for PrimaryKeyRelatedField
+        if not issubclass(field_class, PrimaryKeyRelatedField):
+            field_kwargs.pop('pk_field', None)
+
         # `view_name` is only valid for hyperlinked relationships.
         if not issubclass(field_class, HyperlinkedRelatedField):
             field_kwargs.pop('view_name', None)
diff --git a/rest_framework/utils/field_mapping.py b/rest_framework/utils/field_mapping.py
index 7e8e8f046..dd3919915 100644
--- a/rest_framework/utils/field_mapping.py
+++ b/rest_framework/utils/field_mapping.py
@@ -265,6 +265,8 @@ def get_relation_kwargs(field_name, relation_info):
             kwargs.pop('queryset', None)
         if model_field.null:
             kwargs['allow_null'] = True
+        if isinstance(model_field.target_field, models.UUIDField):
+            kwargs['pk_field'] = models.UUIDField()
         if kwargs.get('read_only', False):
             # If this field is read-only, then return early.
             # No further keyword arguments are valid.