diff --git a/changelog/fix_an_error_for_lint_require_relative_self_path.md b/changelog/fix_an_error_for_lint_require_relative_self_path.md
new file mode 100644
index 00000000000..153e0badc36
--- /dev/null
+++ b/changelog/fix_an_error_for_lint_require_relative_self_path.md
@@ -0,0 +1 @@
+* [#10143](https://github.com/rubocop/rubocop/issues/10143): Fix an error for `Lint/RequireRelativeSelfPath` when using a variable as an argument of `require_relative`. ([@koic][])
diff --git a/lib/rubocop/cop/lint/require_relative_self_path.rb b/lib/rubocop/cop/lint/require_relative_self_path.rb
index ad0a877cac8..585f0038f8b 100644
--- a/lib/rubocop/cop/lint/require_relative_self_path.rb
+++ b/lib/rubocop/cop/lint/require_relative_self_path.rb
@@ -27,6 +27,7 @@ class RequireRelativeSelfPath < Base
 
         def on_send(node)
           return unless (required_feature = node.first_argument)
+          return unless required_feature.respond_to?(:value)
           return unless same_file?(processed_source.file_path, required_feature.value)
 
           add_offense(node) do |corrector|
diff --git a/spec/rubocop/cop/lint/require_relative_self_path_spec.rb b/spec/rubocop/cop/lint/require_relative_self_path_spec.rb
index 5f080e10126..63628802533 100644
--- a/spec/rubocop/cop/lint/require_relative_self_path_spec.rb
+++ b/spec/rubocop/cop/lint/require_relative_self_path_spec.rb
@@ -42,4 +42,10 @@
       require_relative 'foo.racc'
     RUBY
   end
+
+  it 'does not register an offense when using a variable as an argument of `require_relative`' do
+    expect_no_offenses(<<~RUBY, 'foo.rb')
+      Dir['test/**/test_*.rb'].each { |f| require_relative f }
+    RUBY
+  end
 end