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Abstract In this paper, we study a nonlinear fractional differential equation involving two mixed fractional orders with nonlocal boundary conditions. By using some new techniques, we introduce a formula of solutions for above problem, which can be regarded as a novelty item. Moreover, under the weak assumptions and using Leray–Schauder degree theory, we obtain the existence result of solutions for above problem. Furthermore, we discuss the Ulam–Hyers stability of the above fractional differential equation. Three examples illustrate our results.