Index: src/wp-includes/nav-menu.php
===================================================================
--- src/wp-includes/nav-menu.php	(revision 26931)
+++ src/wp-includes/nav-menu.php	(working copy)
@@ -702,11 +702,19 @@
 	);
 	foreach( (array) $menu_items as $menu_item ) {
 		if ( isset( $menu_item->ID ) && is_nav_menu_item( $menu_item->ID ) ) {
-			if ( get_post_meta( $menu_item->ID, '_menu_item_type', true ) !== $object_type ||
-				get_post_meta( $menu_item->ID, '_menu_item_object', true ) !== $taxonomy )
-				continue;
-
-			$menu_item_ids[] = (int) $menu_item->ID;
+			$menu_item_type = get_post_meta( $menu_item->ID, '_menu_item_type', true );
+			if (
+				$object_type === 'post_type' &&
+				$menu_item_type === 'post_type'
+			) {
+				$menu_item_ids[] = (int) $menu_item->ID;
+			} else if (
+				$object_type === 'taxonomy' &&
+				$menu_item_type === 'taxonomy' &&
+				get_post_meta( $menu_item->ID, '_menu_item_object', true ) === $taxonomy
+			) {
+				$menu_item_ids[] = (int) $menu_item->ID;
+			}
 		}
 	}
 
Index: tests/phpunit/tests/post/nav-menu.php
===================================================================
--- tests/phpunit/tests/post/nav-menu.php	(revision 26931)
+++ tests/phpunit/tests/post/nav-menu.php	(working copy)
@@ -18,6 +18,8 @@
 	function test_wp_get_associated_nav_menu_items() {
 		$tag_id = $this->factory->tag->create();
 		$cat_id = $this->factory->category->create();
+		$post_id = $this->factory->post->create();
+		$page_id = $this->factory->post->create( array( 'post_type' => 'page' ) );
 
 		$tag_insert = wp_update_nav_menu_item( $this->menu_id, 0, array(
 			'menu-item-type' => 'taxonomy',
@@ -33,9 +35,43 @@
 			'menu-item-status' => 'publish'
 		) );
 
+		$post_insert = wp_update_nav_menu_item( $this->menu_id, 0, array(
+			'menu-item-type' => 'post_type',
+			'menu-item-object' => 'post',
+			'menu-item-object-id' => $post_id,
+			'menu-item-status' => 'publish'
+		) );
+
+		$page_insert = wp_update_nav_menu_item( $this->menu_id, 0, array(
+			'menu-item-type' => 'post_type',
+			'menu-item-object' => 'page',
+			'menu-item-object-id' => $page_id,
+			'menu-item-status' => 'publish'
+		) );
+
 		$tag_items = wp_get_associated_nav_menu_items( $tag_id, 'taxonomy', 'post_tag' );
 		$this->assertEqualSets( array( $tag_insert ), $tag_items );
 		$cat_items = wp_get_associated_nav_menu_items( $cat_id, 'taxonomy', 'category' );
 		$this->assertEqualSets( array( $cat_insert ), $cat_items );
+		$post_items = wp_get_associated_nav_menu_items( $post_id );
+		$this->assertEqualSets( array( $post_insert ), $post_items );
+		$page_items = wp_get_associated_nav_menu_items( $page_id );
+		$this->assertEqualSets( array( $page_insert ), $page_items );
+
+		wp_delete_term( $tag_id, 'post_tag' );
+		$tag_items = wp_get_associated_nav_menu_items( $tag_id, 'taxonomy', 'post_tag' );
+		$this->assertEqualSets( array(), $tag_items );
+
+		wp_delete_term( $cat_id, 'category' );
+		$cat_items = wp_get_associated_nav_menu_items( $cat_id, 'taxonomy', 'category' );
+		$this->assertEqualSets( array(), $cat_items );
+
+		wp_delete_post( $post_id, true );
+		$post_items = wp_get_associated_nav_menu_items( $post_id );
+		$this->assertEqualSets( array(), $post_items );
+
+		wp_delete_post( $page_id, true );
+		$page_items = wp_get_associated_nav_menu_items( $page_id );
+		$this->assertEqualSets( array(), $page_items );
 	}
-}
\ No newline at end of file
+}