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Direct counterfactual communication (DCC) based on the dynamic quantum Cheshire cat effect is an interesting protocol for <italic>particle-less</italic> information transfer. In this paper, we propose a noise-robust, completely counterfactual, teleportation scheme based on the modified DCC. We show that our scheme does not require any <italic>a priori</italic> shared phase reference; an essential requirement for conventional teleportation schemes. For our modified DCC, we investigate the noise acting on the remotely controlled properties of a photon, i.e., path and polarization. We show that our proposed modification and resulting teleportation scheme are robust against channel delay and dephasing noise. While for photonic loss, depolarizing, and bit-flip noise, it is possible to obtain the correct state given only the channel state information.