diff --git a/CHANGELOG.md b/CHANGELOG.md
index b5f1c165..007c6783 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -12,6 +12,13 @@ and this project adheres to
   JavaScript objects and the JSON representation of `cosmwasm_std::Binary`
   (base64).
 
+### Changed
+
+- @cosmjs/stargate: The error messages for missing types in `AminoTypes` now
+  contain the type that was searched for ([#990]).
+
+[#990]: https://github.com/cosmos/cosmjs/pull/990
+
 ## [0.27.0] - 2022-01-10
 
 ### Added
diff --git a/packages/stargate/src/aminotypes.spec.ts b/packages/stargate/src/aminotypes.spec.ts
index 399dbf1d..6a16e59c 100644
--- a/packages/stargate/src/aminotypes.spec.ts
+++ b/packages/stargate/src/aminotypes.spec.ts
@@ -569,7 +569,7 @@ describe("AminoTypes", () => {
 
     it("throws for unknown type url", () => {
       expect(() => new AminoTypes().toAmino({ typeUrl: "/xxx.Unknown", value: { foo: "bar" } })).toThrowError(
-        /Type URL does not exist in the Amino message type register./i,
+        /Type URL '\/xxx\.Unknown' does not exist in the Amino message type register./i,
       );
     });
   });
@@ -1005,7 +1005,9 @@ describe("AminoTypes", () => {
     it("throws for unknown type url", () => {
       expect(() =>
         new AminoTypes().fromAmino({ type: "cosmos-sdk/MsgUnknown", value: { foo: "bar" } }),
-      ).toThrowError(/Type does not exist in the Amino message type register./i);
+      ).toThrowError(
+        /Amino type identifier 'cosmos-sdk\/MsgUnknown' does not exist in the Amino message type register./i,
+      );
     });
   });
 });
diff --git a/packages/stargate/src/aminotypes.ts b/packages/stargate/src/aminotypes.ts
index 01661f77..0ae80311 100644
--- a/packages/stargate/src/aminotypes.ts
+++ b/packages/stargate/src/aminotypes.ts
@@ -539,7 +539,7 @@ export class AminoTypes {
     const converter = this.register[typeUrl];
     if (!converter) {
       throw new Error(
-        "Type URL does not exist in the Amino message type register. " +
+        `Type URL '${typeUrl}' does not exist in the Amino message type register. ` +
           "If you need support for this message type, you can pass in additional entries to the AminoTypes constructor. " +
           "If you think this message type should be included by default, please open an issue at https://github.com/cosmos/cosmjs/issues.",
       );
@@ -554,7 +554,7 @@ export class AminoTypes {
     const result = Object.entries(this.register).find(([_typeUrl, { aminoType }]) => aminoType === type);
     if (!result) {
       throw new Error(
-        "Type does not exist in the Amino message type register. " +
+        `Amino type identifier '${type}' does not exist in the Amino message type register. ` +
           "If you need support for this message type, you can pass in additional entries to the AminoTypes constructor. " +
           "If you think this message type should be included by default, please open an issue at https://github.com/cosmos/cosmjs/issues.",
       );