diff --git a/packages/css/src/components/error-message/README.md b/packages/css/src/components/error-message/README.md
new file mode 100644
index 0000000000..779ef3cd4e
--- /dev/null
+++ b/packages/css/src/components/error-message/README.md
@@ -0,0 +1,11 @@
+<!-- @license CC0-1.0 -->
+
+# Error Message
+
+Show an error message when there is a form field validation error.
+In the error message explain what went wrong and how to fix it.
+
+For guidance and examples on using error messages in a form,
+refer to the [Field](/docs/components-forms-field--docs) and [Field Set](/docs/components-forms-field-set--docs) documentation.
+
+Read the documentation by [NL Design System](https://www.nldesignsystem.nl/richtlijnen/formulieren/foutmeldingen) and [Gov.uk](https://design-system.service.gov.uk/components/error-message/) for more information on the contents of error messages and when to show them.
diff --git a/packages/css/src/components/error-message/error-message.scss b/packages/css/src/components/error-message/error-message.scss
new file mode 100644
index 0000000000..4dd6e3fd19
--- /dev/null
+++ b/packages/css/src/components/error-message/error-message.scss
@@ -0,0 +1,22 @@
+/**
+ * @license EUPL-1.2+
+ * Copyright Gemeente Amsterdam
+ */
+
+@import "../../common/text-rendering";
+
+@mixin reset {
+  box-sizing: border-box;
+  margin-block: 0;
+}
+
+.ams-error-message {
+  color: var(--ams-error-message-color);
+  font-family: var(--ams-error-message-font-family);
+  font-size: var(--ams-error-message-font-size);
+  font-weight: var(--ams-error-message-font-weight);
+  line-height: var(--ams-error-message-line-height);
+
+  @include text-rendering;
+  @include reset;
+}
diff --git a/packages/css/src/components/index.scss b/packages/css/src/components/index.scss
index 5f7cf2d09a..92badfec90 100644
--- a/packages/css/src/components/index.scss
+++ b/packages/css/src/components/index.scss
@@ -4,6 +4,7 @@
  */
 
 /* Append here */
+@import "./error-message/error-message";
 @import "./file-input/file-input";
 @import "./field/field";
 @import "./select/select";
diff --git a/packages/react/src/ErrorMessage/ErrorMessage.test.tsx b/packages/react/src/ErrorMessage/ErrorMessage.test.tsx
new file mode 100644
index 0000000000..4026873e78
--- /dev/null
+++ b/packages/react/src/ErrorMessage/ErrorMessage.test.tsx
@@ -0,0 +1,51 @@
+import { render, screen } from '@testing-library/react'
+import { createRef } from 'react'
+import { ErrorMessage } from './ErrorMessage'
+import '@testing-library/jest-dom'
+
+describe('Error message', () => {
+  it('renders', () => {
+    render(<ErrorMessage />)
+    const component = screen.getByRole('paragraph')
+
+    expect(component).toBeInTheDocument()
+    expect(component).toBeVisible()
+  })
+
+  it('renders a design system BEM class name', () => {
+    render(<ErrorMessage />)
+    const component = screen.getByRole('paragraph')
+
+    expect(component).toHaveClass('ams-error-message')
+  })
+
+  it('renders an additional class name', () => {
+    render(<ErrorMessage className="extra" />)
+    const component = screen.getByRole('paragraph')
+
+    expect(component).toHaveClass('ams-error-message extra')
+  })
+
+  it('renders a Dutch prefix by default', () => {
+    render(<ErrorMessage />)
+    const component = screen.getByText('Invoerfout', { exact: false })
+
+    expect(component).toBeInTheDocument()
+  })
+
+  it('renders a custom prefix', () => {
+    render(<ErrorMessage prefix="Error" />)
+    const component = screen.getByText('Error', { exact: false })
+
+    expect(component).toBeInTheDocument()
+  })
+
+  it('supports ForwardRef in React', () => {
+    const ref = createRef<HTMLParagraphElement>()
+
+    render(<ErrorMessage ref={ref} />)
+    const component = screen.getByRole('paragraph')
+
+    expect(ref.current).toBe(component)
+  })
+})
diff --git a/packages/react/src/ErrorMessage/ErrorMessage.tsx b/packages/react/src/ErrorMessage/ErrorMessage.tsx
new file mode 100644
index 0000000000..ce9b2e1c0a
--- /dev/null
+++ b/packages/react/src/ErrorMessage/ErrorMessage.tsx
@@ -0,0 +1,31 @@
+/**
+ * @license EUPL-1.2+
+ * Copyright Gemeente Amsterdam
+ */
+
+import clsx from 'clsx'
+import { forwardRef } from 'react'
+import type { ForwardedRef, HTMLAttributes, PropsWithChildren } from 'react'
+import { VisuallyHidden } from '../VisuallyHidden'
+
+export type ErrorMessageProps = {
+  /** An accessible phrase that screen readers announce before the error message. Should translate to something like ‘input error’. */
+  prefix?: string
+} & PropsWithChildren<HTMLAttributes<HTMLParagraphElement>>
+
+export const ErrorMessage = forwardRef(
+  (
+    { children, className, prefix = 'Invoerfout', ...restProps }: ErrorMessageProps,
+    ref: ForwardedRef<HTMLParagraphElement>,
+  ) => (
+    <p {...restProps} ref={ref} className={clsx('ams-error-message', className)}>
+      <VisuallyHidden>
+        {prefix}
+        {': '}
+      </VisuallyHidden>
+      {children}
+    </p>
+  ),
+)
+
+ErrorMessage.displayName = 'ErrorMessage'
diff --git a/packages/react/src/ErrorMessage/README.md b/packages/react/src/ErrorMessage/README.md
new file mode 100644
index 0000000000..b7a1e98d1a
--- /dev/null
+++ b/packages/react/src/ErrorMessage/README.md
@@ -0,0 +1,5 @@
+<!-- @license CC0-1.0 -->
+
+# React Error Message component
+
+[Error Message documentation](../../../css/src/components/error-message/README.md)
diff --git a/packages/react/src/ErrorMessage/index.ts b/packages/react/src/ErrorMessage/index.ts
new file mode 100644
index 0000000000..50e3b5c5c3
--- /dev/null
+++ b/packages/react/src/ErrorMessage/index.ts
@@ -0,0 +1,2 @@
+export { ErrorMessage } from './ErrorMessage'
+export type { ErrorMessageProps } from './ErrorMessage'
diff --git a/packages/react/src/index.ts b/packages/react/src/index.ts
index 4334528431..c7bd65c925 100644
--- a/packages/react/src/index.ts
+++ b/packages/react/src/index.ts
@@ -4,6 +4,7 @@
  */
 
 /* Append here */
+export * from './ErrorMessage'
 export * from './FileInput'
 export * from './Field'
 export * from './Select'
diff --git a/proprietary/tokens/src/components/ams/error-message.tokens.json b/proprietary/tokens/src/components/ams/error-message.tokens.json
new file mode 100644
index 0000000000..a742de7279
--- /dev/null
+++ b/proprietary/tokens/src/components/ams/error-message.tokens.json
@@ -0,0 +1,11 @@
+{
+  "ams": {
+    "error-message": {
+      "color": { "value": "{ams.color.primary-red}" },
+      "font-family": { "value": "{ams.text.font-family}" },
+      "font-size": { "value": "{ams.text.level.6.font-size}" },
+      "font-weight": { "value": "{ams.text.font-weight.normal}" },
+      "line-height": { "value": "{ams.text.level.6.line-height}" }
+    }
+  }
+}
diff --git a/storybook/src/components/ErrorMessage/ErrorMessage.docs.mdx b/storybook/src/components/ErrorMessage/ErrorMessage.docs.mdx
new file mode 100644
index 0000000000..74fae9a038
--- /dev/null
+++ b/storybook/src/components/ErrorMessage/ErrorMessage.docs.mdx
@@ -0,0 +1,19 @@
+import { Canvas, Controls, Markdown, Meta, Primary } from "@storybook/blocks";
+import * as ErrorMessageStories from "./ErrorMessage.stories.tsx";
+import README from "../../../../packages/css/src/components/error-message/README.md?raw";
+
+<Meta of={ErrorMessageStories} />
+
+<Markdown>{README}</Markdown>
+
+<Primary />
+
+<Controls />
+
+## With a custom prefix
+
+Error messages are automatically prefixed with a visually hidden text, the Dutch word "Invoerfout".
+This makes the error message more clear for screen reader users.
+If you want to change this prefix, to support another language for example, you can use the `prefix` prop.
+
+<Canvas of={ErrorMessageStories.WithCustomPrefix} />
diff --git a/storybook/src/components/ErrorMessage/ErrorMessage.stories.tsx b/storybook/src/components/ErrorMessage/ErrorMessage.stories.tsx
new file mode 100644
index 0000000000..8e6c3e4312
--- /dev/null
+++ b/storybook/src/components/ErrorMessage/ErrorMessage.stories.tsx
@@ -0,0 +1,33 @@
+/**
+ * @license EUPL-1.2+
+ * Copyright Gemeente Amsterdam
+ */
+
+import { ErrorMessage } from '@amsterdam/design-system-react/src'
+import { Meta, StoryObj } from '@storybook/react'
+
+const meta = {
+  title: 'Components/Forms/Error Message',
+  component: ErrorMessage,
+  args: {
+    children: 'Vul een geldig e-mailadres in, bijvoorbeeld naam@voorbeeld.nl.',
+  },
+  argTypes: {
+    children: {
+      table: { disable: false },
+    },
+  },
+} satisfies Meta<typeof ErrorMessage>
+
+export default meta
+
+type Story = StoryObj<typeof meta>
+
+export const Default: Story = {}
+
+export const WithCustomPrefix: Story = {
+  args: {
+    children: 'Enter an email address in the correct format, like name@example.com',
+    prefix: 'Error',
+  },
+}
diff --git a/storybook/src/components/Field/Field.docs.mdx b/storybook/src/components/Field/Field.docs.mdx
index c2283e9caf..4a0eb86187 100644
--- a/storybook/src/components/Field/Field.docs.mdx
+++ b/storybook/src/components/Field/Field.docs.mdx
@@ -14,7 +14,7 @@ import README from "../../../../packages/css/src/components/field/README.md?raw"
 
 A Field can have a description.
 Make sure to connect this description to the input in the Field,
-otherwise this won’t be read by a screen reader.
+otherwise it won’t be read by a screen reader.
 Add an `aria-describedby` attribute to the input and provide the `id` of the describing element as its value.
 
 <Canvas of={FieldStories.WithDescription} />
@@ -22,5 +22,9 @@ Add an `aria-describedby` attribute to the input and provide the `id` of the des
 ## With Error
 
 A Field can indicate if the contained input has a validation error.
+Use Error Message to describe the error.
+Make sure to connect the error message to the input in the Field,
+otherwise it won’t be read by a screen reader.
+Add an `aria-describedby` attribute to the input and provide the `id` of Error Message as its value.
 
 <Canvas of={FieldStories.WithError} />
diff --git a/storybook/src/components/Field/Field.stories.tsx b/storybook/src/components/Field/Field.stories.tsx
index c1559c47a3..e542c88ea8 100644
--- a/storybook/src/components/Field/Field.stories.tsx
+++ b/storybook/src/components/Field/Field.stories.tsx
@@ -3,8 +3,8 @@
  * Copyright Gemeente Amsterdam
  */
 
-import { TextInput } from '@amsterdam/design-system-react'
-import { Field, Label, Paragraph } from '@amsterdam/design-system-react/src'
+import { ErrorMessage, Label, TextInput } from '@amsterdam/design-system-react'
+import { Field, Paragraph } from '@amsterdam/design-system-react/src'
 import { Meta, StoryObj } from '@storybook/react'
 
 const meta = {
@@ -48,7 +48,8 @@ export const WithError: Story = {
       <Paragraph id="description2" size="small">
         Typ geen persoonsgegevens in deze omschrijving. We vragen dit later in dit formulier aan u.
       </Paragraph>
-      <TextInput id="input3" aria-describedby="description2" invalid={args.invalid} />
+      <ErrorMessage id="error">Geef aan waar het om gaat.</ErrorMessage>
+      <TextInput id="input3" aria-describedby="description2 error" aria-required invalid={args.invalid} />
     </Field>
   ),
 }
diff --git a/storybook/src/components/FieldSet/FieldSet.docs.mdx b/storybook/src/components/FieldSet/FieldSet.docs.mdx
index 4214143dec..506cab411d 100644
--- a/storybook/src/components/FieldSet/FieldSet.docs.mdx
+++ b/storybook/src/components/FieldSet/FieldSet.docs.mdx
@@ -25,6 +25,10 @@ and provide the `id` of the describing element as its value.
 ## With Error
 
 A Field Set can indicate whether any of the inputs it contains has a validation error.
+Use Error Message to describe the error.
+Make sure to connect the error message to the correct input in the Field Set,
+otherwise it won’t be read by a screen reader.
+Add an `aria-describedby` attribute to the input and provide the `id` of Error Message as its value.
 
 <Canvas of={FieldSetStories.WithError} />
 
@@ -32,12 +36,19 @@ A Field Set can indicate whether any of the inputs it contains has a validation
 
 Use a Field Set to group radio buttons.
 When grouping radio inputs, use `role="radiogroup"` on Field Set to have this grouping explicitly announced as a radio group (the default role is `group`).
-
 Using `role="radiogroup"` also allows you to use `aria-required` on Field Set, which isn’t allowed for role `group`.
 Always also set `aria-required` on the individual radio buttons though, to make sure it’s read by screen readers.
 
 <Canvas of={FieldSetStories.RadioGroup} />
 
+### Radio group with error
+
+A Field Set with a radio button group can also have a validation error.
+In this case, connect the error message to the Field Set instead of an input.
+Add an `aria-describedby` attribute to the Field Set and provide the `id` of Error Message as its value.
+
+<Canvas of={FieldSetStories.RadioGroupWithError} />
+
 ### Checkbox group
 
 Use a Field Set to group checkboxes.
@@ -48,3 +59,9 @@ not report a description connected to a Field Set when it contains checkboxes.
 Try to avoid using descriptions for Field Sets containing checkboxes for this reason.
 
 <Canvas of={FieldSetStories.CheckboxGroup} />
+
+### Checkbox group with error
+
+Because of [the NVDA bug mentioned earlier](https://github.com/nvaccess/nvda/issues/12718),
+we currently do not have a reliable way to report error messages for checkbox groups with a validation error.
+We are working on adding this as soon as possible.
diff --git a/storybook/src/components/FieldSet/FieldSet.stories.tsx b/storybook/src/components/FieldSet/FieldSet.stories.tsx
index 501d5c56bd..1aed9b47b9 100644
--- a/storybook/src/components/FieldSet/FieldSet.stories.tsx
+++ b/storybook/src/components/FieldSet/FieldSet.stories.tsx
@@ -3,7 +3,16 @@
  * Copyright Gemeente Amsterdam
  */
 
-import { Checkbox, Column, FieldSet, Label, Paragraph, Radio, TextInput } from '@amsterdam/design-system-react/src'
+import {
+  Checkbox,
+  Column,
+  ErrorMessage,
+  FieldSet,
+  Label,
+  Paragraph,
+  Radio,
+  TextInput,
+} from '@amsterdam/design-system-react/src'
 import { Meta, StoryObj } from '@storybook/react'
 
 const meta = {
@@ -64,9 +73,11 @@ export const WithError: Story = {
       </Paragraph>
       <Column gap="extra-small">
         <Label htmlFor="input5">Voornaam</Label>
-        <TextInput id="input5" invalid={args.invalid} aria-required="true" />
+        {args.invalid && <ErrorMessage id="error1">Vul uw voornaam in.</ErrorMessage>}
+        <TextInput id="input5" aria-describedby="error1" aria-required="true" invalid={args.invalid} />
         <Label htmlFor="input6">Achternaam</Label>
-        <TextInput id="input6" invalid={args.invalid} aria-required="true" />
+        {args.invalid && <ErrorMessage id="error2">Vul uw achternaam in.</ErrorMessage>}
+        <TextInput id="input6" aria-describedby="error2" aria-required="true" invalid={args.invalid} />
       </Column>
     </FieldSet>
   ),
@@ -105,6 +116,45 @@ export const RadioGroup: Story = {
   ),
 }
 
+export const RadioGroupWithError: Story = {
+  args: {
+    legend: 'Waar gaat uw melding over?',
+    invalid: true,
+  },
+  render: (args) => (
+    <FieldSet
+      legend={args.legend}
+      aria-describedby="description5 error3"
+      role="radiogroup"
+      aria-required="true"
+      invalid={args.invalid}
+    >
+      <Paragraph id="description5" size="small" className="ams-mb--sm">
+        De laatstgenoemde melding.
+      </Paragraph>
+      {args.invalid && (
+        <ErrorMessage className="ams-mb--sm" id="error3">
+          Geef aan waar uw laatstgenoemde melding over gaat.
+        </ErrorMessage>
+      )}
+      <Column gap="extra-small">
+        <Radio name="about" value="horeca" invalid={args.invalid} aria-required="true">
+          Horecabedrijf
+        </Radio>
+        <Radio name="about" value="ander_bedrijf" invalid={args.invalid} aria-required="true">
+          Ander soort bedrijf
+        </Radio>
+        <Radio name="about" value="evenement" invalid={args.invalid} aria-required="true">
+          Evenement
+        </Radio>
+        <Radio name="about" value="anders" invalid={args.invalid} aria-required="true">
+          Iets anders
+        </Radio>
+      </Column>
+    </FieldSet>
+  ),
+}
+
 export const CheckboxGroup: Story = {
   args: {
     legend: 'Waar gaat uw melding over?',
@@ -128,3 +178,29 @@ export const CheckboxGroup: Story = {
     </FieldSet>
   ),
 }
+
+// export const CheckboxGroupWithError: Story = {
+//   args: {
+//     invalid: true,
+//     legend: 'Waar gaat uw melding over?',
+//   },
+//   render: (args) => (
+//     <FieldSet legend={args.legend} invalid={args.invalid}>
+//       {args.invalid && <ErrorMessage className="ams-mb--sm">Geef aan waar uw melding over gaat.</ErrorMessage>}
+//       <Column gap="extra-small" style={{ width: '100%' }}>
+//         <Checkbox name="about" value="horeca" invalid={args.invalid} aria-required="true">
+//           Horecabedrijf
+//         </Checkbox>
+//         <Checkbox name="about" value="ander_bedrijf" invalid={args.invalid} aria-required="true">
+//           Ander soort bedrijf
+//         </Checkbox>
+//         <Checkbox name="about" value="evenement" invalid={args.invalid} aria-required="true">
+//           Evenement
+//         </Checkbox>
+//         <Checkbox name="about" value="anders" invalid={args.invalid} aria-required="true">
+//           Iets anders
+//         </Checkbox>
+//       </Column>
+//     </FieldSet>
+//   ),
+// }