diff --git a/lib/_http_server.js b/lib/_http_server.js
index 233958cc3f63ff..a0740ef9745db4 100644
--- a/lib/_http_server.js
+++ b/lib/_http_server.js
@@ -813,10 +813,29 @@ const requestHeaderFieldsTooLargeResponse = Buffer.from(
   `HTTP/1.1 431 ${STATUS_CODES[431]}\r\n` +
   'Connection: close\r\n\r\n', 'ascii',
 );
+
+function warnUnclosedSocket() {
+  if (warnUnclosedSocket.emitted) {
+    return;
+  }
+
+  warnUnclosedSocket.emitted = true;
+  process.emitWarning(
+    'An error event has already been emitted on the socket. ' +
+    'Please use the destroy method on the socket while handling ' +
+    "a 'clientError' event.",
+  );
+}
+
 function socketOnError(e) {
   // Ignore further errors
   this.removeListener('error', socketOnError);
-  this.on('error', noop);
+
+  if (this.listenerCount('error', noop) === 0) {
+    this.on('error', noop);
+  } else {
+    warnUnclosedSocket();
+  }
 
   if (!this.server.emit('clientError', e, this)) {
     // Caution must be taken to avoid corrupting the remote peer.
diff --git a/test/parallel/test-http-socket-error-listeners.js b/test/parallel/test-http-socket-error-listeners.js
new file mode 100644
index 00000000000000..f0d220a5d9337a
--- /dev/null
+++ b/test/parallel/test-http-socket-error-listeners.js
@@ -0,0 +1,47 @@
+// Flags: --no-warnings
+
+'use strict';
+
+const common = require('../common');
+const assert = require('assert');
+const http = require('http');
+const net = require('net');
+
+// This test sends an invalid character to a HTTP server and purposely
+// does not handle clientError (even if it sets an event handler).
+//
+// The idea is to let the server emit multiple errors on the socket,
+// mostly due to parsing error, and make sure they don't result
+// in leaking event listeners.
+
+{
+  let i = 0;
+  let socket;
+  process.on('warning', common.mustCall());
+
+  const server = http.createServer(common.mustNotCall());
+
+  server.on('clientError', common.mustCallAtLeast((err) => {
+    assert.strictEqual(err.code, 'HPE_INVALID_METHOD');
+    assert.strictEqual(err.rawPacket.toString(), '*');
+
+    if (i === 20) {
+      socket.end();
+    } else {
+      socket.write('*');
+      i++;
+    }
+  }, 1));
+
+  server.listen(0, () => {
+    socket = net.createConnection({ port: server.address().port });
+
+    socket.on('connect', () => {
+      socket.write('*');
+    });
+
+    socket.on('close', () => {
+      server.close();
+    });
+  });
+}