diff --git a/rasa/core/actions/forms.py b/rasa/core/actions/forms.py
index 2d21744d0882..5bd92fd8302f 100644
--- a/rasa/core/actions/forms.py
+++ b/rasa/core/actions/forms.py
@@ -462,17 +462,24 @@ async def request_next_slot(
         # no more required slots to fill
         return [SlotSet(REQUESTED_SLOT, None)]
 
-    @staticmethod
+    def _name_of_utterance(self, domain: Domain, slot_name: Text) -> Text:
+        full_name = f"utter_ask_{self._form_name}_{slot_name}"
+        if full_name in domain.action_names:
+            return full_name
+        else:
+            return f"utter_ask_{slot_name}"
+
     async def _ask_for_slot(
+        self,
         domain: Domain,
         nlg: NaturalLanguageGenerator,
         output_channel: OutputChannel,
         slot_name: Text,
         tracker: DialogueStateTracker,
     ) -> List[Event]:
-        name_of_utterance = f"utter_ask_{slot_name}"
+
         action_to_ask_for_next_slot = action.action_from_name(
-            name_of_utterance, None, domain.user_actions
+            self._name_of_utterance(domain, slot_name), None, domain.user_actions
         )
         events_to_ask_for_next_slot = await action_to_ask_for_next_slot.run(
             output_channel, nlg, tracker, domain
diff --git a/tests/core/actions/test_forms.py b/tests/core/actions/test_forms.py
index 4e05c35329bc..94c0b985ac97 100644
--- a/tests/core/actions/test_forms.py
+++ b/tests/core/actions/test_forms.py
@@ -176,6 +176,32 @@ async def test_validate_slots():
         ]
 
 
+def test_name_of_utterance():
+    form_name = "another_form"
+    slot_name = "num_people"
+    full_utterance_name = f"utter_ask_{form_name}_{slot_name}"
+
+    domain = f"""
+    forms:
+    - {form_name}:
+        {slot_name}:
+        - type: from_text
+    responses:
+        {full_utterance_name}:
+        - text: "How many people?"
+    """
+    domain = Domain.from_yaml(domain)
+
+    action_server_url = "http:/my-action-server:5055/webhook"
+
+    with aioresponses() as mocked:
+        action_server = EndpointConfig(action_server_url)
+        action = FormAction(form_name, action_server)
+
+        assert action._name_of_utterance(domain, slot_name) == full_utterance_name
+        assert action._name_of_utterance(domain, "another_slot") == "utter_ask_another_slot"
+
+
 def test_temporary_tracker():
     extra_slot = "some_slot"
     sender_id = "test"