TypeError: Cannot read property 'history' of undefined

For the / route you should use render like this:

<Route exact path="/" render={() => {
  if (Auth.isUserAuthenticated()) { 
    (<DashboardPage)/>)
  } else {
    (<HomePage/>)
  }
}} />

For your /logout route using <Redirect>

<Route path="/logout" render={() => {
    Auth.deauthenticateUser();
    return <Redirect to={{ pathname: "/login" }} />;
    }}
/>

I post a second solution for the /logout path using withRouter and this.props.history.push('/login').

1. Point the /logout Route to its own component "Logout"
2. wrap the Logout component with withRouter method from react-router-dom.

Logout.js

import React, { Component } from "react";
import Auth from "../modules/Auth";
import { withRouter } from "react-router-dom";

class Logout extends Component {
  constructor(props) {
    super(props);
    this.handleLogout = this.handleLogout.bind(this);
  }
  handleLogout() {
    Auth.deauthenticateUser();
    this.props.history.push("/login");
  }
  render() {
    return (
      <div>
        {this.handleLogout()}
      </div>
    );
  }
}
export default withRouter(Logout);