diff --git a/doc/api/util.md b/doc/api/util.md
index 3810b1145cd7cc..3b4078b6dc8a42 100644
--- a/doc/api/util.md
+++ b/doc/api/util.md
@@ -485,6 +485,9 @@ stream.write('With ES6');
 <!-- YAML
 added: v0.3.0
 changes:
+  - version: REPLACEME
+    pr-url: https://github.com/nodejs/node/pull/41003
+    description: The `numericSeparator` option is supported now.
   - version:
     - v14.6.0
     - v12.19.0
@@ -606,6 +609,9 @@ changes:
     set to `'set'`, only getters with a corresponding setter are inspected.
     This might cause side effects depending on the getter function.
     **Default:** `false`.
+  * `numericSeparator` {boolean} If set to `true`, an underscore is used to
+    separate every three digits in all bigints and numbers.
+    **Default:** `false`.
 * Returns: {string} The representation of `object`.
 
 The `util.inspect()` method returns a string representation of `object` that is
@@ -754,6 +760,21 @@ assert.strict.equal(
 );
 ```
 
+The `numericSeparator` option adds an underscore every three digits to all
+numbers.
+
+```js
+const { inspect } = require('util');
+
+const thousand = 1_000;
+const million = 1_000_000;
+const bigNumber = 123_456_789n;
+const bigDecimal = 1_234.123_45;
+
+console.log(thousand, million, bigNumber, bigDecimal);
+// 1_000 1_000_000 123_456_789n 1_234.123_45
+```
+
 `util.inspect()` is a synchronous method intended for debugging. Its maximum
 output length is approximately 128 MB. Inputs that result in longer output will
 be truncated.
diff --git a/lib/internal/util/inspect.js b/lib/internal/util/inspect.js
index 4936ab761ddccb..20d0507a9ec11b 100644
--- a/lib/internal/util/inspect.js
+++ b/lib/internal/util/inspect.js
@@ -26,7 +26,9 @@ const {
   MathMin,
   MathRound,
   MathSqrt,
+  MathTrunc,
   Number,
+  NumberIsFinite,
   NumberIsNaN,
   NumberParseFloat,
   NumberParseInt,
@@ -168,7 +170,8 @@ const inspectDefaultOptions = ObjectSeal({
   breakLength: 80,
   compact: 3,
   sorted: false,
-  getters: false
+  getters: false,
+  numericSeparator: false,
 });
 
 const kObjectType = 0;
@@ -244,6 +247,7 @@ function getUserOptions(ctx, isCrossContext) {
     compact: ctx.compact,
     sorted: ctx.sorted,
     getters: ctx.getters,
+    numericSeparator: ctx.numericSeparator,
     ...ctx.userOptions
   };
 
@@ -301,7 +305,8 @@ function inspect(value, opts) {
     breakLength: inspectDefaultOptions.breakLength,
     compact: inspectDefaultOptions.compact,
     sorted: inspectDefaultOptions.sorted,
-    getters: inspectDefaultOptions.getters
+    getters: inspectDefaultOptions.getters,
+    numericSeparator: inspectDefaultOptions.numericSeparator,
   };
   if (arguments.length > 1) {
     // Legacy...
@@ -949,7 +954,7 @@ function formatRaw(ctx, value, recurseTimes, typedArray) {
         formatter = formatArrayBuffer;
       } else if (keys.length === 0 && protoProps === undefined) {
         return prefix +
-              `{ byteLength: ${formatNumber(ctx.stylize, value.byteLength)} }`;
+              `{ byteLength: ${formatNumber(ctx.stylize, value.byteLength, false)} }`;
       }
       braces[0] = `${prefix}{`;
       ArrayPrototypeUnshift(keys, 'byteLength');
@@ -1370,13 +1375,61 @@ function handleMaxCallStackSize(ctx, err, constructorName, indentationLvl) {
   assert.fail(err.stack);
 }
 
-function formatNumber(fn, value) {
-  // Format -0 as '-0'. Checking `value === -0` won't distinguish 0 from -0.
-  return fn(ObjectIs(value, -0) ? '-0' : `${value}`, 'number');
+function addNumericSeparator(integerString) {
+  let result = '';
+  let i = integerString.length;
+  const start = integerString.startsWith('-') ? 1 : 0;
+  for (; i >= start + 4; i -= 3) {
+    result = `_${integerString.slice(i - 3, i)}${result}`;
+  }
+  return i === integerString.length ?
+    integerString :
+    `${integerString.slice(0, i)}${result}`;
+}
+
+function addNumericSeparatorEnd(integerString) {
+  let result = '';
+  let i = 0;
+  for (; i < integerString.length - 3; i += 3) {
+    result += `${integerString.slice(i, i + 3)}_`;
+  }
+  return i === 0 ?
+    integerString :
+    `${result}${integerString.slice(i)}`;
+}
+
+function formatNumber(fn, number, numericSeparator) {
+  if (!numericSeparator) {
+    // Format -0 as '-0'. Checking `number === -0` won't distinguish 0 from -0.
+    if (ObjectIs(number, -0)) {
+      return fn('-0', 'number');
+    }
+    return fn(`${number}`, 'number');
+  }
+  const integer = MathTrunc(number);
+  const string = String(integer);
+  if (integer === number) {
+    if (!NumberIsFinite(number) || string.includes('e')) {
+      return fn(string, 'number');
+    }
+    return fn(`${addNumericSeparator(string)}`, 'number');
+  }
+  if (NumberIsNaN(number)) {
+    return fn(string, 'number');
+  }
+  return fn(`${
+    addNumericSeparator(string)
+  }.${
+    addNumericSeparatorEnd(String(number).slice(string.length + 1))
+  }`, 'number');
 }
 
-function formatBigInt(fn, value) {
-  return fn(`${value}n`, 'bigint');
+function formatBigInt(fn, bigint, numericSeparator) {
+  const string = String(bigint);
+  if (!numericSeparator) {
+    return fn(`${string}n`, 'bigint');
+  }
+  return fn(`${addNumericSeparator(string)}n`, 'bigint');
 }
 
 function formatPrimitive(fn, value, ctx) {
@@ -1400,9 +1453,9 @@ function formatPrimitive(fn, value, ctx) {
     return fn(strEscape(value), 'string') + trailer;
   }
   if (typeof value === 'number')
-    return formatNumber(fn, value);
+    return formatNumber(fn, value, ctx.numericSeparator);
   if (typeof value === 'bigint')
-    return formatBigInt(fn, value);
+    return formatBigInt(fn, value, ctx.numericSeparator);
   if (typeof value === 'boolean')
     return fn(`${value}`, 'boolean');
   if (typeof value === 'undefined')
@@ -1519,8 +1572,9 @@ function formatTypedArray(value, length, ctx, ignored, recurseTimes) {
   const elementFormatter = value.length > 0 && typeof value[0] === 'number' ?
     formatNumber :
     formatBigInt;
-  for (let i = 0; i < maxLength; ++i)
-    output[i] = elementFormatter(ctx.stylize, value[i]);
+  for (let i = 0; i < maxLength; ++i) {
+    output[i] = elementFormatter(ctx.stylize, value[i], ctx.numericSeparator);
+  }
   if (remaining > 0) {
     output[maxLength] = `... ${remaining} more item${remaining > 1 ? 's' : ''}`;
   }
@@ -1864,8 +1918,8 @@ function tryStringify(arg) {
     if (!CIRCULAR_ERROR_MESSAGE) {
       try {
         const a = {}; a.a = a; JSONStringify(a);
-      } catch (err) {
-        CIRCULAR_ERROR_MESSAGE = firstErrorLine(err);
+      } catch (circularError) {
+        CIRCULAR_ERROR_MESSAGE = firstErrorLine(circularError);
       }
     }
     if (err.name === 'TypeError' &&
@@ -1888,6 +1942,22 @@ function formatWithOptions(inspectOptions, ...args) {
   return formatWithOptionsInternal(inspectOptions, args);
 }
 
+function formatNumberNoColor(number, options) {
+  return formatNumber(
+    stylizeNoColor,
+    number,
+    options?.numericSeparator ?? inspectDefaultOptions.numericSeparator
+  );
+}
+
+function formatBigIntNoColor(bigint, options) {
+  return formatBigInt(
+    stylizeNoColor,
+    bigint,
+    options?.numericSeparator ?? inspectDefaultOptions.numericSeparator
+  );
+}
+
 function formatWithOptionsInternal(inspectOptions, args) {
   const first = args[0];
   let a = 0;
@@ -1909,9 +1979,9 @@ function formatWithOptionsInternal(inspectOptions, args) {
             case 115: // 's'
               const tempArg = args[++a];
               if (typeof tempArg === 'number') {
-                tempStr = formatNumber(stylizeNoColor, tempArg);
+                tempStr = formatNumberNoColor(tempArg, inspectOptions);
               } else if (typeof tempArg === 'bigint') {
-                tempStr = `${tempArg}n`;
+                tempStr = formatBigIntNoColor(tempArg, inspectOptions);
               } else if (typeof tempArg !== 'object' ||
                          tempArg === null ||
                          !hasBuiltInToString(tempArg)) {
@@ -1931,11 +2001,11 @@ function formatWithOptionsInternal(inspectOptions, args) {
             case 100: // 'd'
               const tempNum = args[++a];
               if (typeof tempNum === 'bigint') {
-                tempStr = `${tempNum}n`;
+                tempStr = formatBigIntNoColor(tempNum, inspectOptions);
               } else if (typeof tempNum === 'symbol') {
                 tempStr = 'NaN';
               } else {
-                tempStr = formatNumber(stylizeNoColor, Number(tempNum));
+                tempStr = formatNumberNoColor(Number(tempNum), inspectOptions);
               }
               break;
             case 79: // 'O'
@@ -1952,12 +2022,12 @@ function formatWithOptionsInternal(inspectOptions, args) {
             case 105: // 'i'
               const tempInteger = args[++a];
               if (typeof tempInteger === 'bigint') {
-                tempStr = `${tempInteger}n`;
+                tempStr = formatBigIntNoColor(tempInteger, inspectOptions);
               } else if (typeof tempInteger === 'symbol') {
                 tempStr = 'NaN';
               } else {
-                tempStr = formatNumber(stylizeNoColor,
-                                       NumberParseInt(tempInteger));
+                tempStr = formatNumberNoColor(
+                  NumberParseInt(tempInteger), inspectOptions);
               }
               break;
             case 102: // 'f'
@@ -1965,8 +2035,8 @@ function formatWithOptionsInternal(inspectOptions, args) {
               if (typeof tempFloat === 'symbol') {
                 tempStr = 'NaN';
               } else {
-                tempStr = formatNumber(stylizeNoColor,
-                                       NumberParseFloat(tempFloat));
+                tempStr = formatNumberNoColor(
+                  NumberParseFloat(tempFloat), inspectOptions);
               }
               break;
             case 99: // 'c'
diff --git a/test/parallel/test-util-format.js b/test/parallel/test-util-format.js
index 3d6404076471dd..121510acc691e3 100644
--- a/test/parallel/test-util-format.js
+++ b/test/parallel/test-util-format.js
@@ -74,6 +74,37 @@ assert.strictEqual(
   '1180591620717411303424n 12345678901234567890123n'
 );
 
+{
+  const { numericSeparator } = util.inspect.defaultOptions;
+  util.inspect.defaultOptions.numericSeparator = true;
+
+  assert.strictEqual(
+    util.format('%d', 1180591620717411303424),
+    '1.1805916207174113e+21'
+  );
+
+  assert.strictEqual(
+    util.format(
+      '%d %s %i', 118059162071741130342, 118059162071741130342, 123_123_123),
+    '118_059_162_071_741_140_000 118_059_162_071_741_140_000 123_123_123'
+  );
+
+  assert.strictEqual(
+    util.format(
+      '%d %s',
+      1_180_591_620_717_411_303_424n,
+      12_345_678_901_234_567_890_123n
+    ),
+    '1_180_591_620_717_411_303_424n 12_345_678_901_234_567_890_123n'
+  );
+
+  assert.strictEqual(
+    util.format('%i', 1_180_591_620_717_411_303_424n),
+    '1_180_591_620_717_411_303_424n'
+  );
+
+  util.inspect.defaultOptions.numericSeparator = numericSeparator;
+}
 // Integer format specifier
 assert.strictEqual(util.format('%i'), '%i');
 assert.strictEqual(util.format('%i', 42.0), '42');
diff --git a/test/parallel/test-util-inspect.js b/test/parallel/test-util-inspect.js
index fe01c4c0f92858..ca9d029e2f62b0 100644
--- a/test/parallel/test-util-inspect.js
+++ b/test/parallel/test-util-inspect.js
@@ -3104,3 +3104,52 @@ assert.strictEqual(
     "{ ['__proto__']: { a: 1 } }"
   );
 }
+
+{
+  const { numericSeparator } = util.inspect.defaultOptions;
+  util.inspect.defaultOptions.numericSeparator = true;
+
+  assert.strictEqual(
+    util.inspect(1234567891234567891234),
+    '1.234567891234568e+21'
+  );
+  assert.strictEqual(
+    util.inspect(123456789.12345678),
+    '123_456_789.123_456_78'
+  );
+
+  assert.strictEqual(util.inspect(10_000_000), '10_000_000');
+  assert.strictEqual(util.inspect(1_000_000), '1_000_000');
+  assert.strictEqual(util.inspect(100_000), '100_000');
+  assert.strictEqual(util.inspect(99_999.9), '99_999.9');
+  assert.strictEqual(util.inspect(9_999), '9_999');
+  assert.strictEqual(util.inspect(999), '999');
+  assert.strictEqual(util.inspect(NaN), 'NaN');
+  assert.strictEqual(util.inspect(Infinity), 'Infinity');
+  assert.strictEqual(util.inspect(-Infinity), '-Infinity');
+
+  assert.strictEqual(
+    util.inspect(new Float64Array([100_000_000])),
+    'Float64Array(1) [ 100_000_000 ]'
+  );
+  assert.strictEqual(
+    util.inspect(new BigInt64Array([9_100_000_100n])),
+    'BigInt64Array(1) [ 9_100_000_100n ]'
+  );
+
+  assert.strictEqual(
+    util.inspect(123456789),
+    '123_456_789'
+  );
+  assert.strictEqual(
+    util.inspect(123456789n),
+    '123_456_789n'
+  );
+
+  util.inspect.defaultOptions.numericSeparator = numericSeparator;
+
+  assert.strictEqual(
+    util.inspect(123456789.12345678, { numericSeparator: true }),
+    '123_456_789.123_456_78'
+  );
+}