I know this topic is old but today I received the same error message and found a fix. It was not a matter of a certain InDesign version, but a matter of the PDF itself. The one I was trying to upload was about 500 pages big.
In the initial dialogue window it already said that it couldn’t “determine PDF page count: all pages will be imported”. So I figured this might be part of the problem – maybe it was simply too big. I split the PDF file in two new files of 250 pages, and the problem was fixed.
Still, this could also mean the original PDF was corrupt and that all it took was to create a new one.