Any restrictions on document validity when travelling within the EU as an EU citizen?

For many extra-EU citizens, even if they are allowed to travel visa-free their passport or accepted identity documents must be valid for at least three months after their intended departure. This is well-sourced and written in many guides here and elsewhere.

However, I am wondering about EU citizens. In general, they are allowed to travel freely throughout the EU thanks to the freedom of movement directive, but they are required to have valid documentation (passport or ID card; the latter if the citizenship country issues these) and to present them if they are crossing a non-open border (e.g. Ireland–Spain). Do the EU regulations or any relevant national regulations require these documents to be valid for any period after the intended return date?

For example, say I want to go to Ireland from Spain from the 16th to the 30th of June. Can my ID card expire on the 30th of June or must it be valid until <date x in the more distant future>?

I have been unable to find a definite answer, but that may just be because I am bad at reading legalese.