diff --git a/lib/internal/modules/cjs/loader.js b/lib/internal/modules/cjs/loader.js
index 2450b86c921e83..6e215bcd04c680 100644
--- a/lib/internal/modules/cjs/loader.js
+++ b/lib/internal/modules/cjs/loader.js
@@ -124,6 +124,8 @@ const { pathToFileURL, fileURLToPath, isURL } = require('internal/url');
 const {
   pendingDeprecate,
   emitExperimentalWarning,
+  isInsideNodeModules,
+  isUnderNodeModules,
   kEmptyObject,
   setOwnProperty,
   getLazy,
@@ -1350,6 +1352,7 @@ let resolvedArgv;
 let hasPausedEntry = false;
 /** @type {import('vm').Script} */
 
+let emittedRequireModuleWarning = false;
 /**
  * Resolve and evaluate it synchronously as ESM if it's ESM.
  * @param {Module} mod CJS module instance
@@ -1373,11 +1376,27 @@ function loadESMFromCJS(mod, filename) {
     // ESM won't be accessible via process.mainModule.
     setOwnProperty(process, 'mainModule', undefined);
   } else {
-    emitExperimentalWarning('Support for loading ES Module in require()');
+    const parent = mod[kModuleParent];
+    if (!emittedRequireModuleWarning) {
+      let shouldEmitWarning = false;
+      // Check if the require() comes from node_modules.
+      if (parent) {
+        shouldEmitWarning = !isUnderNodeModules(parent.filename)
+      } else if (mod[kIsCachedByESMLoader]) {
+        // It comes from the require() built for `import cjs` and doesn't have a parent recorded
+        // in the CJS module instance. Inspect the stack trace to see if the require()
+        // comes from node_modules.
+        shouldEmitWarning = !isInsideNodeModules();
+      }
+      if (shouldEmitWarning) {
+        emitExperimentalWarning('Support for loading ES Module in require()');
+        emittedRequireModuleWarning = true;
+      }
+    }
     const {
       wrap,
       namespace,
-    } = cascadedLoader.importSyncForRequire(mod, filename, source, isMain, mod[kModuleParent]);
+    } = cascadedLoader.importSyncForRequire(mod, filename, source, isMain, parent);
     // Tooling in the ecosystem have been using the __esModule property to recognize
     // transpiled ESM in consuming code. For example, a 'log' package written in ESM:
     //
diff --git a/test/es-module/test-require-node-modules-warning.js b/test/es-module/test-require-node-modules-warning.js
new file mode 100644
index 00000000000000..58017b3356b835
--- /dev/null
+++ b/test/es-module/test-require-node-modules-warning.js
@@ -0,0 +1,59 @@
+'use strict';
+
+// This checks the experimental warning for require(esm) is disabled when the
+// require() comes from node_modules.
+require('../common');
+const { spawnSyncAndAssert } = require('../common/child_process');
+const fixtures = require('../common/fixtures');
+
+const warningRE = /ExperimentalWarning: Support for loading ES Module in require\(\)/;
+
+// The fixtures are placed in a directory that includes "node_modules" in its name
+// to check false negatives.
+
+// require() in non-node_modules -> esm in node_modules should warn.
+spawnSyncAndAssert(
+  process.execPath,
+  [fixtures.path('es-modules', 'test_node_modules', 'require-esm.js')],
+  {
+    trim: true,
+    stderr: warningRE,
+    stdout: 'world',
+  }
+);
+
+// require() in non-node_modules -> require() in node_modules -> esm in node_modules
+// should not warn.
+spawnSyncAndAssert(
+  process.execPath,
+  [fixtures.path('es-modules', 'test_node_modules', 'require-require-esm.js')],
+  {
+    trim: true,
+    stderr: '',
+    stdout: 'world',
+  }
+);
+
+// import in non-node_modules -> require() in node_modules -> esm in node_modules
+// should not warn.
+spawnSyncAndAssert(
+  process.execPath,
+  [fixtures.path('es-modules', 'test_node_modules', 'import-require-esm.mjs')],
+  {
+    trim: true,
+    stderr: '',
+    stdout: 'world',
+  }
+);
+
+// import in non-node_modules -> import in node_modules ->
+// require() in node_modules -> esm in node_modules should not warn.
+spawnSyncAndAssert(
+  process.execPath,
+  [fixtures.path('es-modules', 'test_node_modules', 'import-import-require-esm.mjs')],
+  {
+    trim: true,
+    stderr: '',
+    stdout: 'world',
+  }
+);
diff --git a/test/fixtures/es-modules/test_node_modules/import-import-require-esm.mjs b/test/fixtures/es-modules/test_node_modules/import-import-require-esm.mjs
new file mode 100644
index 00000000000000..d470088c38caee
--- /dev/null
+++ b/test/fixtures/es-modules/test_node_modules/import-import-require-esm.mjs
@@ -0,0 +1,2 @@
+import mod from 'import-require-esm';
+console.log(mod.hello);
diff --git a/test/fixtures/es-modules/test_node_modules/import-require-esm.mjs b/test/fixtures/es-modules/test_node_modules/import-require-esm.mjs
new file mode 100644
index 00000000000000..2ad346de9e841c
--- /dev/null
+++ b/test/fixtures/es-modules/test_node_modules/import-require-esm.mjs
@@ -0,0 +1,2 @@
+import mod from 'require-esm';
+console.log(mod.hello);
diff --git a/test/fixtures/es-modules/test_node_modules/node_modules/esm/index.js b/test/fixtures/es-modules/test_node_modules/node_modules/esm/index.js
new file mode 100644
index 00000000000000..35f468bf4856d8
--- /dev/null
+++ b/test/fixtures/es-modules/test_node_modules/node_modules/esm/index.js
@@ -0,0 +1 @@
+export const hello = 'world';
diff --git a/test/fixtures/es-modules/test_node_modules/node_modules/esm/package.json b/test/fixtures/es-modules/test_node_modules/node_modules/esm/package.json
new file mode 100644
index 00000000000000..07aec65d5a4f31
--- /dev/null
+++ b/test/fixtures/es-modules/test_node_modules/node_modules/esm/package.json
@@ -0,0 +1,4 @@
+{
+  "type": "module",
+  "main": "index.js"
+}
diff --git a/test/fixtures/es-modules/test_node_modules/node_modules/import-require-esm/index.js b/test/fixtures/es-modules/test_node_modules/node_modules/import-require-esm/index.js
new file mode 100644
index 00000000000000..918bb5d5597e34
--- /dev/null
+++ b/test/fixtures/es-modules/test_node_modules/node_modules/import-require-esm/index.js
@@ -0,0 +1,2 @@
+import mod from 'require-esm';
+export default mod;
diff --git a/test/fixtures/es-modules/test_node_modules/node_modules/import-require-esm/package.json b/test/fixtures/es-modules/test_node_modules/node_modules/import-require-esm/package.json
new file mode 100644
index 00000000000000..07aec65d5a4f31
--- /dev/null
+++ b/test/fixtures/es-modules/test_node_modules/node_modules/import-require-esm/package.json
@@ -0,0 +1,4 @@
+{
+  "type": "module",
+  "main": "index.js"
+}
diff --git a/test/fixtures/es-modules/test_node_modules/node_modules/require-esm/index.js b/test/fixtures/es-modules/test_node_modules/node_modules/require-esm/index.js
new file mode 100644
index 00000000000000..ca6f0c264ad1fc
--- /dev/null
+++ b/test/fixtures/es-modules/test_node_modules/node_modules/require-esm/index.js
@@ -0,0 +1,2 @@
+module.exports = require('esm');
+
diff --git a/test/fixtures/es-modules/test_node_modules/require-esm.js b/test/fixtures/es-modules/test_node_modules/require-esm.js
new file mode 100644
index 00000000000000..60ad3f7fff60c6
--- /dev/null
+++ b/test/fixtures/es-modules/test_node_modules/require-esm.js
@@ -0,0 +1,2 @@
+const { hello } = require('esm');
+console.log(hello);
diff --git a/test/fixtures/es-modules/test_node_modules/require-require-esm.js b/test/fixtures/es-modules/test_node_modules/require-require-esm.js
new file mode 100644
index 00000000000000..9fe255dce258a6
--- /dev/null
+++ b/test/fixtures/es-modules/test_node_modules/require-require-esm.js
@@ -0,0 +1,2 @@
+const { hello } = require('require-esm');
+console.log(hello);