diff --git a/clients/src/main/java/org/apache/kafka/common/network/Selector.java b/clients/src/main/java/org/apache/kafka/common/network/Selector.java
index 7acf88269ee14..0bac3161155bf 100644
--- a/clients/src/main/java/org/apache/kafka/common/network/Selector.java
+++ b/clients/src/main/java/org/apache/kafka/common/network/Selector.java
@@ -42,6 +42,7 @@
 import java.nio.channels.SelectionKey;
 import java.nio.channels.SocketChannel;
 import java.nio.channels.UnresolvedAddressException;
+import java.security.cert.CertPathValidatorException;
 import java.util.ArrayList;
 import java.util.Collection;
 import java.util.Collections;
@@ -619,6 +620,10 @@ void pollSelectionKeys(Set<SelectionKey> selectionKeys,
                     String exceptionMessage = e.getMessage();
                     if (e instanceof DelayedResponseAuthenticationException)
                         exceptionMessage = e.getCause().getMessage();
+                    CertPathValidatorException certPathValidatorException = maybeGetCertPathValidatorException(e);
+                    if (certPathValidatorException != null) {
+                        exceptionMessage += "; certificate validation failed with reason " + certPathValidatorException.getReason();
+                    }
                     log.info("Failed {}authentication with {} ({})", isReauthentication ? "re-" : "",
                         desc, exceptionMessage);
                 } else {
@@ -635,6 +640,14 @@ void pollSelectionKeys(Set<SelectionKey> selectionKeys,
         }
     }
 
+    private CertPathValidatorException maybeGetCertPathValidatorException(Throwable throwable)  {
+        Throwable current = throwable;
+        while (current != null && !(current instanceof CertPathValidatorException)) {
+            current = current.getCause();
+        }
+        return (CertPathValidatorException) current;
+    }
+
     private void attemptWrite(SelectionKey key, KafkaChannel channel, long nowNanos) throws IOException {
         if (channel.hasSend()
                 && channel.ready()