diff --git a/homeassistant/config.py b/homeassistant/config.py
index a33acead87063..027839ca6561d 100644
--- a/homeassistant/config.py
+++ b/homeassistant/config.py
@@ -515,7 +515,7 @@ def async_log_config_validator_error(
 
     if hass is not None:
         async_notify_setup_error(hass, domain, link)
-    message = format_homeassistant_error(ex, domain, config, link)
+    message = format_homeassistant_error(hass, ex, domain, config, link)
     _LOGGER.error(message, exc_info=ex)
 
 
@@ -677,11 +677,19 @@ def humanize_error(
 
 @callback
 def format_homeassistant_error(
-    ex: HomeAssistantError, domain: str, config: dict, link: str | None = None
+    hass: HomeAssistant,
+    ex: HomeAssistantError,
+    domain: str,
+    config: dict,
+    link: str | None = None,
 ) -> str:
     """Format HomeAssistantError thrown by a custom config validator."""
-    message = f"Invalid config for [{domain}]: {str(ex) or repr(ex)}"
-
+    message_prefix = f"Invalid config for [{domain}]"
+    # HomeAssistantError raised by custom config validator has no path to the
+    # offending configuration key, use the domain key as path instead.
+    if annotation := find_annotation(config, [domain]):
+        message_prefix += f" at {_relpath(hass, annotation[0])}, line {annotation[1]}"
+    message = f"{message_prefix}: {str(ex) or repr(ex)}"
     if domain != CONF_CORE and link:
         message += f" Please check the docs at {link}."
 
diff --git a/homeassistant/helpers/check_config.py b/homeassistant/helpers/check_config.py
index 7466ddc617979..09bdf10cf704a 100644
--- a/homeassistant/helpers/check_config.py
+++ b/homeassistant/helpers/check_config.py
@@ -115,7 +115,7 @@ def _comp_error(
         if isinstance(ex, vol.Invalid):
             message = format_schema_error(hass, ex, domain, component_config)
         else:
-            message = format_homeassistant_error(ex, domain, component_config)
+            message = format_homeassistant_error(hass, ex, domain, component_config)
         if domain in frontend_dependencies:
             result.add_error(message, domain, config_to_attach)
         else:
diff --git a/tests/helpers/test_check_config.py b/tests/helpers/test_check_config.py
index 82500cb0b30b9..56df99bb03258 100644
--- a/tests/helpers/test_check_config.py
+++ b/tests/helpers/test_check_config.py
@@ -453,7 +453,7 @@ async def test_automation_config_platform(hass: HomeAssistant) -> None:
             HomeAssistantError("Broken"),
             0,
             1,
-            "Invalid config for [bla]: Broken",
+            "Invalid config for [bla] at configuration.yaml, line 11: Broken",
         ),
     ],
 )
diff --git a/tests/snapshots/test_config.ambr b/tests/snapshots/test_config.ambr
index 97faac40bf590..b65617cb649d4 100644
--- a/tests/snapshots/test_config.ambr
+++ b/tests/snapshots/test_config.ambr
@@ -47,7 +47,7 @@
     }),
     dict({
       'has_exc_info': True,
-      'message': 'Invalid config for [custom_validator_bad_1]: broken',
+      'message': 'Invalid config for [custom_validator_bad_1] at configuration.yaml, line 55: broken',
     }),
     dict({
       'has_exc_info': True,
@@ -103,7 +103,7 @@
     }),
     dict({
       'has_exc_info': True,
-      'message': 'Invalid config for [custom_validator_bad_1]: broken',
+      'message': 'Invalid config for [custom_validator_bad_1] at configuration.yaml, line 9: broken',
     }),
     dict({
       'has_exc_info': True,
@@ -135,7 +135,7 @@
     }),
     dict({
       'has_exc_info': True,
-      'message': 'Invalid config for [custom_validator_bad_1]: broken',
+      'message': 'Invalid config for [custom_validator_bad_1] at configuration.yaml, line 1: broken',
     }),
     dict({
       'has_exc_info': True,
@@ -167,7 +167,7 @@
     }),
     dict({
       'has_exc_info': True,
-      'message': 'Invalid config for [custom_validator_bad_1]: broken',
+      'message': 'Invalid config for [custom_validator_bad_1] at configuration.yaml, line 1: broken',
     }),
     dict({
       'has_exc_info': True,
@@ -223,7 +223,7 @@
     }),
     dict({
       'has_exc_info': True,
-      'message': 'Invalid config for [custom_validator_bad_1]: broken',
+      'message': 'Invalid config for [custom_validator_bad_1] at configuration.yaml, line 67: broken',
     }),
     dict({
       'has_exc_info': True,
@@ -279,7 +279,7 @@
     }),
     dict({
       'has_exc_info': True,
-      'message': 'Invalid config for [custom_validator_bad_1]: broken',
+      'message': 'Invalid config for [custom_validator_bad_1] at integrations/custom_validator_bad_1.yaml, line 2: broken',
     }),
     dict({
       'has_exc_info': True,
@@ -306,7 +306,7 @@
       Invalid config for [adr_0007_5] at configuration.yaml, line 45: expected int for dictionary value 'adr_0007_5->port', got 'foo'. Please check the docs at https://www.home-assistant.io/integrations/adr_0007_5.
     ''',
     "Invalid config for [custom_validator_ok_2] at configuration.yaml, line 52: required key 'host' not provided. Please check the docs at https://www.home-assistant.io/integrations/custom_validator_ok_2.",
-    'Invalid config for [custom_validator_bad_1]: broken Please check the docs at https://www.home-assistant.io/integrations/custom_validator_bad_1.',
+    'Invalid config for [custom_validator_bad_1] at configuration.yaml, line 55: broken Please check the docs at https://www.home-assistant.io/integrations/custom_validator_bad_1.',
     'Unknown error calling custom_validator_bad_2 config validator',
   ])
 # ---