diff --git a/moto/stepfunctions/parser/api.py b/moto/stepfunctions/parser/api.py
index 96fe9859e81..173867900ff 100644
--- a/moto/stepfunctions/parser/api.py
+++ b/moto/stepfunctions/parser/api.py
@@ -268,8 +268,13 @@ class InvalidOutput(ServiceException):
 
 class InvalidToken(ServiceException):
     code: str = "InvalidToken"
+    exception_type: str = "UnrecognizedClientException"
     sender_fault: bool = False
     status_code: int = 400
+    message: str = "The security token included in the request is invalid."
+
+    def __init__(self):
+        super().__init__(self.message, self.exception_type, self.status_code)
 
 
 class InvalidTracingConfiguration(ServiceException):
diff --git a/tests/test_stepfunctions/parser/test_stepfunctions_dynamodb_integration.py b/tests/test_stepfunctions/parser/test_stepfunctions_dynamodb_integration.py
index 1fbd708d0cb..33eedf52846 100644
--- a/tests/test_stepfunctions/parser/test_stepfunctions_dynamodb_integration.py
+++ b/tests/test_stepfunctions/parser/test_stepfunctions_dynamodb_integration.py
@@ -6,6 +6,7 @@
 import boto3
 import pytest
 import requests
+from botocore.exceptions import ClientError
 
 from moto import mock_aws
 
@@ -240,3 +241,54 @@ def _verify_result(client, execution, execution_arn):
         exec_input=json.dumps(exec_input),
         sleep_time=sleep_time,
     )
+
+
+@aws_verified
+@pytest.mark.aws_verified
+def test_send_task_failure_invalid_token(table_name=None, sleep_time=0):
+    dynamodb = boto3.client("dynamodb", "us-east-1")
+    exec_input = {"TableName": table_name, "Item": {"id": {"S": "id1"}}}
+
+    tmpl_name = "services/dynamodb_task_token"
+
+    def _verify_result(client, execution, execution_arn):
+        if execution["status"] == "RUNNING":
+            items = dynamodb.scan(TableName=table_name)["Items"]
+            if len(items) > 0:
+                # Execute
+                with pytest.raises(ClientError) as exc:
+                    client.send_task_failure(taskToken="bad_token", error="test error")
+
+                # Verify
+                assert (
+                    exc.value.response["Error"]["Code"] == "UnrecognizedClientException"
+                )
+                assert (
+                    exc.value.response["Error"]["Message"]
+                    == "The security token included "
+                    "in the request is invalid."
+                )
+
+                # Execute
+                with pytest.raises(ClientError) as exc:
+                    client.send_task_success(
+                        taskToken="bad_token", output="test output"
+                    )
+
+                # Verify
+                assert (
+                    exc.value.response["Error"]["Code"] == "UnrecognizedClientException"
+                )
+                assert (
+                    exc.value.response["Error"]["Message"]
+                    == "The security token included "
+                    "in the request is invalid."
+                )
+
+    verify_execution_result(
+        _verify_result,
+        expected_status=None,
+        tmpl_name=tmpl_name,
+        exec_input=json.dumps(exec_input),
+        sleep_time=sleep_time,
+    )