diff --git a/executor/insert_common.go b/executor/insert_common.go
index 3e2a592e2e8dc..ec9a437a77144 100644
--- a/executor/insert_common.go
+++ b/executor/insert_common.go
@@ -37,9 +37,7 @@ import (
 	"github.com/pingcap/tidb/types"
 	"github.com/pingcap/tidb/util/chunk"
 	"github.com/pingcap/tidb/util/execdetails"
-	"github.com/pingcap/tidb/util/logutil"
 	"github.com/pingcap/tidb/util/memory"
-	"go.uber.org/zap"
 )
 
 // InsertValues is the data to insert.
@@ -293,10 +291,18 @@ func (e *InsertValues) handleErr(col *table.Column, val *types.Datum, rowIdx int
 		err = types.ErrWarnDataOutOfRange.GenWithStackByArgs(colName, rowIdx+1)
 	} else if types.ErrTruncated.Equal(err) {
 		err = types.ErrTruncated.GenWithStackByArgs(colName, rowIdx+1)
+	} else if types.ErrTruncatedWrongVal.Equal(err) && (colTp == mysql.TypeDuration || colTp == mysql.TypeDatetime || colTp == mysql.TypeDate || colTp == mysql.TypeTimestamp) {
+		valStr, err1 := val.ToString()
+		if err1 != nil {
+			// do nothing
+		}
+		err = types.ErrTruncatedWrongVal.GenWithStack(
+			fmt.Sprintf("Incorrect %-.32s value: '%-.128s' for column '%.192s' at row %d", types.TypeStr(colTp), valStr, colName, rowIdx+1),
+		)
 	} else if types.ErrTruncatedWrongVal.Equal(err) || types.ErrWrongValue.Equal(err) {
 		valStr, err1 := val.ToString()
 		if err1 != nil {
-			logutil.BgLogger().Warn("truncate value failed", zap.Error(err1))
+			// do nothing
 		}
 		err = table.ErrTruncatedWrongValueForField.GenWithStackByArgs(types.TypeStr(colTp), valStr, colName, rowIdx+1)
 	}
diff --git a/executor/write_test.go b/executor/write_test.go
index 1e9c95c3f336f..c3f2f1cf62569 100644
--- a/executor/write_test.go
+++ b/executor/write_test.go
@@ -262,7 +262,7 @@ func (s *testSuite) TestInsert(c *C) {
 	r.Check(testkit.Rows("0", "0", "18446744073709551615", "0", "0"))
 	tk.MustExec("set @@sql_mode = @orig_sql_mode;")
 
-	// issue 6424
+	// issue 6424 & issue 20207
 	tk.MustExec("drop table if exists t")
 	tk.MustExec("create table t(a time(6))")
 	tk.MustExec("insert into t value('20070219173709.055870'), ('20070219173709.055'), ('20070219173709.055870123')")
@@ -271,7 +271,7 @@ func (s *testSuite) TestInsert(c *C) {
 	tk.MustExec("insert into t value(20070219173709.055870), (20070219173709.055), (20070219173709.055870123)")
 	tk.MustQuery("select * from t").Check(testkit.Rows("17:37:09.055870", "17:37:09.055000", "17:37:09.055870"))
 	_, err = tk.Exec("insert into t value(-20070219173709.055870)")
-	c.Assert(err.Error(), Equals, "[table:1366]Incorrect time value: '-20070219173709.055870' for column 'a' at row 1")
+	c.Assert(err.Error(), Equals, "[types:1292]Incorrect time value: '-20070219173709.055870' for column 'a' at row 1")
 
 	tk.MustExec("drop table if exists t")
 	tk.MustExec("set @@sql_mode=''")