diff --git a/packages/@aws-cdk/aws-iot/README.md b/packages/@aws-cdk/aws-iot/README.md
index 42ab651f26f81..402036b531dfc 100644
--- a/packages/@aws-cdk/aws-iot/README.md
+++ b/packages/@aws-cdk/aws-iot/README.md
@@ -75,6 +75,22 @@ const topicRule = new iot.TopicRule(this, 'TopicRule', {
 topicRule.addAction(new actions.LambdaFunctionAction(func))
 ```
 
+You can also supply `errorAction` as following,
+and the IoT Rule will trigger it if a rule's action is unable to perform:
+
+```ts
+import * as iot from '@aws-cdk/aws-iot';
+import * as actions from '@aws-cdk/aws-iot-actions';
+import * as logs from '@aws-cdk/aws-logs';
+
+const logGroup = new logs.LogGroup(this, 'MyLogGroup');
+
+new iot.TopicRule(this, 'TopicRule', {
+  sql: iot.IotSql.fromStringAsVer20160323("SELECT topic(2) as device_id, timestamp() as timestamp FROM 'device/+/data'"),
+  errorAction: new actions.CloudWatchLogsAction(logGroup),
+});
+```
+
 If you wanna make the topic rule disable, add property `enabled: false` as following:
 
 ```ts
@@ -83,3 +99,5 @@ new iot.TopicRule(this, 'TopicRule', {
   enabled: false,
 });
 ```
+
+See also [@aws-cdk/aws-iot-actions](https://docs.aws.amazon.com/cdk/api/latest/docs/aws-iot-actions-readme.html) for other actions.
diff --git a/packages/@aws-cdk/aws-iot/lib/topic-rule.ts b/packages/@aws-cdk/aws-iot/lib/topic-rule.ts
index 8860a611e4af3..89f40c3797d97 100644
--- a/packages/@aws-cdk/aws-iot/lib/topic-rule.ts
+++ b/packages/@aws-cdk/aws-iot/lib/topic-rule.ts
@@ -48,6 +48,13 @@ export interface TopicRuleProps {
    */
   readonly description?: string;
 
+  /**
+   * The action AWS IoT performs when it is unable to perform a rule's action.
+   *
+   * @default - no action will be performed
+   */
+  readonly errorAction?: IAction;
+
   /**
    * Specifies whether the rule is enabled.
    *
@@ -117,6 +124,7 @@ export class TopicRule extends Resource implements ITopicRule {
         actions: Lazy.any({ produce: () => this.actions }),
         awsIotSqlVersion: sqlConfig.awsIotSqlVersion,
         description: props.description,
+        errorAction: props.errorAction?.bind(this).configuration,
         ruleDisabled: props.enabled === undefined ? undefined : !props.enabled,
         sql: sqlConfig.sql,
       },
diff --git a/packages/@aws-cdk/aws-iot/test/topic-rule.test.ts b/packages/@aws-cdk/aws-iot/test/topic-rule.test.ts
index 6e4a49c234e60..5f84201a37e5d 100644
--- a/packages/@aws-cdk/aws-iot/test/topic-rule.test.ts
+++ b/packages/@aws-cdk/aws-iot/test/topic-rule.test.ts
@@ -233,6 +233,31 @@ test('cannot add an action that have multiple keys', () => {
   }).toThrow('An action property cannot have multiple keys, received: http,lambda');
 });
 
+test('can set errorAction', () => {
+  const stack = new cdk.Stack();
+
+  const action: iot.IAction = {
+    bind: () => ({
+      configuration: {
+        http: { url: 'http://example.com' },
+      },
+    }),
+  };
+
+  new iot.TopicRule(stack, 'MyTopicRule', {
+    errorAction: action,
+    sql: iot.IotSql.fromStringAsVer20151008("SELECT topic(2) as device_id, temperature FROM 'device/+/data'"),
+  });
+
+  Template.fromStack(stack).hasResourceProperties('AWS::IoT::TopicRule', {
+    TopicRulePayload: {
+      ErrorAction: {
+        Http: { Url: 'http://example.com' },
+      },
+    },
+  });
+});
+
 test('can import a TopicRule by ARN', () => {
   const stack = new cdk.Stack();