diff --git a/junit-jupiter-api/src/main/java/org/junit/jupiter/api/AssertDoesNotThrow.java b/junit-jupiter-api/src/main/java/org/junit/jupiter/api/AssertDoesNotThrow.java
index 569a76b44c1d..2cd887c740e4 100644
--- a/junit-jupiter-api/src/main/java/org/junit/jupiter/api/AssertDoesNotThrow.java
+++ b/junit-jupiter-api/src/main/java/org/junit/jupiter/api/AssertDoesNotThrow.java
@@ -17,6 +17,7 @@
 
 import org.junit.jupiter.api.function.Executable;
 import org.junit.jupiter.api.function.ThrowingSupplier;
+import org.junit.platform.commons.util.StringUtils;
 import org.opentest4j.AssertionFailedError;
 
 /**
@@ -48,9 +49,7 @@ private static void assertDoesNotThrow(Executable executable, Object messageOrSu
 			executable.execute();
 		}
 		catch (Throwable t) {
-			String message = buildPrefix(nullSafeGet(messageOrSupplier)) + "Unexpected exception thrown: "
-					+ t.getClass().getName();
-			throw new AssertionFailedError(message, t);
+			throw createAssertionFailedError(messageOrSupplier, t);
 		}
 	}
 
@@ -71,10 +70,18 @@ private static <T> T assertDoesNotThrow(ThrowingSupplier<T> supplier, Object mes
 			return supplier.get();
 		}
 		catch (Throwable t) {
-			String message = buildPrefix(nullSafeGet(messageOrSupplier)) + "Unexpected exception thrown: "
-					+ t.getClass().getName();
-			throw new AssertionFailedError(message, t);
+			throw createAssertionFailedError(messageOrSupplier, t);
 		}
 	}
 
+	private static AssertionFailedError createAssertionFailedError(Object messageOrSupplier, Throwable t) {
+		String message = buildPrefix(nullSafeGet(messageOrSupplier)) + "Unexpected exception thrown: "
+				+ t.getClass().getName() + addThrowableMessage(t);
+		return new AssertionFailedError(message, t);
+	}
+
+	private static String addThrowableMessage(Throwable t) {
+		return StringUtils.isBlank(t.getMessage()) ? "" : ": " + t.getMessage();
+	}
+
 }
diff --git a/junit-jupiter-engine/src/test/java/org/junit/jupiter/api/AssertDoesNotThrowAssertionsTests.java b/junit-jupiter-engine/src/test/java/org/junit/jupiter/api/AssertDoesNotThrowAssertionsTests.java
index 303565092f69..57d7dc3d0e32 100644
--- a/junit-jupiter-engine/src/test/java/org/junit/jupiter/api/AssertDoesNotThrowAssertionsTests.java
+++ b/junit-jupiter-engine/src/test/java/org/junit/jupiter/api/AssertDoesNotThrowAssertionsTests.java
@@ -107,6 +107,20 @@ void assertDoesNotThrowWithExecutableThatThrowsACheckedException() {
 		}
 	}
 
+	@Test
+	void assertDoesNotThrowWithExecutableThatThrowsACheckedExceptionWithMessage() {
+		String message = "Checked exception message";
+		try {
+			assertDoesNotThrow((Executable) () -> {
+				throw new IOException(message);
+			});
+			expectAssertionFailedError();
+		}
+		catch (AssertionFailedError ex) {
+			assertMessageEquals(ex, "Unexpected exception thrown: " + IOException.class.getName() + ": " + message);
+		}
+	}
+
 	@Test
 	void assertDoesNotThrowWithExecutableThatThrowsARuntimeException() {
 		try {
@@ -120,6 +134,21 @@ void assertDoesNotThrowWithExecutableThatThrowsARuntimeException() {
 		}
 	}
 
+	@Test
+	void assertDoesNotThrowWithExecutableThatThrowsARuntimeExceptionWithMessage() {
+		String message = "Runtime exception message";
+		try {
+			assertDoesNotThrow((Executable) () -> {
+				throw new IllegalStateException(message);
+			});
+			expectAssertionFailedError();
+		}
+		catch (AssertionFailedError ex) {
+			assertMessageEquals(ex,
+				"Unexpected exception thrown: " + IllegalStateException.class.getName() + ": " + message);
+		}
+	}
+
 	@Test
 	void assertDoesNotThrowWithExecutableThatThrowsAnError() {
 		try {
@@ -145,6 +174,21 @@ void assertDoesNotThrowWithExecutableThatThrowsAnExceptionWithMessageString() {
 		}
 	}
 
+	@Test
+	void assertDoesNotThrowWithExecutableThatThrowsAnExceptionWithMessageWithMessageString() {
+		String message = "Runtime exception message";
+		try {
+			assertDoesNotThrow((Executable) () -> {
+				throw new IllegalStateException(message);
+			}, "Custom message");
+			expectAssertionFailedError();
+		}
+		catch (AssertionFailedError ex) {
+			assertMessageEquals(ex, "Custom message ==> Unexpected exception thrown: "
+					+ IllegalStateException.class.getName() + ": " + message);
+		}
+	}
+
 	@Test
 	void assertDoesNotThrowWithExecutableThatThrowsAnExceptionWithMessageSupplier() {
 		try {
@@ -159,6 +203,21 @@ void assertDoesNotThrowWithExecutableThatThrowsAnExceptionWithMessageSupplier()
 		}
 	}
 
+	@Test
+	void assertDoesNotThrowWithExecutableThatThrowsAnExceptionWithMessageWithMessageSupplier() {
+		String message = "Runtime exception message";
+		try {
+			assertDoesNotThrow((Executable) () -> {
+				throw new IllegalStateException(message);
+			}, () -> "Custom message");
+			expectAssertionFailedError();
+		}
+		catch (AssertionFailedError ex) {
+			assertMessageEquals(ex, "Custom message ==> Unexpected exception thrown: "
+					+ IllegalStateException.class.getName() + ": " + message);
+		}
+	}
+
 	// --- supplier ------------------------------------------------------------
 
 	@Test