diff --git a/lib/internal/errors.js b/lib/internal/errors.js
index f85253ec444256..67121f3487b15d 100644
--- a/lib/internal/errors.js
+++ b/lib/internal/errors.js
@@ -1209,7 +1209,9 @@ E('ERR_UNHANDLED_ERROR',
 E('ERR_UNKNOWN_BUILTIN_MODULE', 'No such built-in module: %s', Error);
 E('ERR_UNKNOWN_CREDENTIAL', '%s identifier does not exist: %s', Error);
 E('ERR_UNKNOWN_ENCODING', 'Unknown encoding: %s', TypeError);
-E('ERR_UNKNOWN_FILE_EXTENSION', 'Unknown file extension: %s', TypeError);
+E('ERR_UNKNOWN_FILE_EXTENSION',
+  'Unknown file extension "%s" for %s imported from %s',
+  TypeError);
 E('ERR_UNKNOWN_MODULE_FORMAT', 'Unknown module format: %s', RangeError);
 E('ERR_UNKNOWN_SIGNAL', 'Unknown signal: %s', TypeError);
 
diff --git a/lib/internal/modules/esm/default_resolve.js b/lib/internal/modules/esm/default_resolve.js
index c9ef3883c40412..d238930164dcf4 100644
--- a/lib/internal/modules/esm/default_resolve.js
+++ b/lib/internal/modules/esm/default_resolve.js
@@ -116,7 +116,10 @@ function resolve(specifier, parentURL) {
         'ExperimentalWarning');
       format = legacyExtensionFormatMap[ext];
     } else {
-      throw new ERR_UNKNOWN_FILE_EXTENSION(fileURLToPath(url));
+      throw new ERR_UNKNOWN_FILE_EXTENSION(
+        ext,
+        fileURLToPath(url),
+        fileURLToPath(parentURL));
     }
   }
   return { url: `${url}`, format };
diff --git a/test/es-module/test-esm-invalid-extension.js b/test/es-module/test-esm-invalid-extension.js
index cdf9476b29f864..87b0c6691d3445 100644
--- a/test/es-module/test-esm-invalid-extension.js
+++ b/test/es-module/test-esm-invalid-extension.js
@@ -6,8 +6,10 @@ const { spawnSync } = require('child_process');
 const fixture = fixtures.path('/es-modules/import-invalid-ext.mjs');
 const child = spawnSync(process.execPath, [fixture]);
 const errMsg = 'TypeError [ERR_UNKNOWN_FILE_EXTENSION]: Unknown file extension';
+const importMsg = `imported from ${fixture}`;
 
 assert.strictEqual(child.status, 1);
 assert.strictEqual(child.signal, null);
 assert.strictEqual(child.stdout.toString().trim(), '');
 assert(child.stderr.toString().includes(errMsg));
+assert(child.stderr.toString().includes(importMsg));