diff --git a/src/Framework/TestCase.php b/src/Framework/TestCase.php
index 0d30afc49ae..ce229c0c40e 100644
--- a/src/Framework/TestCase.php
+++ b/src/Framework/TestCase.php
@@ -1723,22 +1723,11 @@ private function handleDependencies(): bool
                 }
 
                 if (!isset($passedKeys[$dependency])) {
-                    $this->status = BaseTestRunner::STATUS_SKIPPED;
-
-                    $this->result->startTest($this);
-
-                    $this->result->addError(
-                        $this,
-                        new SkippedTestError(
-                            \sprintf(
-                                'This test depends on "%s" to pass.',
-                                $dependency
-                            )
-                        ),
-                        0
-                    );
-
-                    $this->result->endTest($this, 0);
+                    if (!\is_callable($dependency, false, $callableName) || $dependency !== $callableName) {
+                        $this->markWarningForUncallableDependency($dependency);
+                    } else {
+                        $this->markSkippedForMissingDependecy($dependency);
+                    }
 
                     return false;
                 }
@@ -1777,6 +1766,40 @@ private function handleDependencies(): bool
         return true;
     }
 
+    private function markSkippedForMissingDependecy(string $dependency): void
+    {
+        $this->status = BaseTestRunner::STATUS_SKIPPED;
+        $this->result->startTest($this);
+        $this->result->addError(
+            $this,
+            new SkippedTestError(
+                \sprintf(
+                    'This test depends on "%s" to pass.',
+                    $dependency
+                )
+            ),
+            0
+        );
+        $this->result->endTest($this, 0);
+    }
+
+    private function markWarningForUncallableDependency(string $dependency): void
+    {
+        $this->status = BaseTestRunner::STATUS_WARNING;
+        $this->result->startTest($this);
+        $this->result->addWarning(
+            $this,
+            new Warning(
+                \sprintf(
+                    'This test depends on "%s" which does not exist.',
+                    $dependency
+                )
+            ),
+            0
+        );
+        $this->result->endTest($this, 0);
+    }
+
     /**
      * Get the mock object generator, creating it if it doesn't exist.
      */
diff --git a/tests/_files/DependencyFailureTest.php b/tests/_files/DependencyFailureTest.php
index 4695305d73d..cec0ddf118d 100644
--- a/tests/_files/DependencyFailureTest.php
+++ b/tests/_files/DependencyFailureTest.php
@@ -39,4 +39,17 @@ public function testFour(): void
     {
         $this->assertTrue(true);
     }
+
+    /**
+     * This test has been added to check the printed warnings for the user
+     * when a dependency simply doesn't exist.
+     *
+     * @depends doesNotExist
+     *
+     * @see https://github.com/sebastianbergmann/phpunit/issues/3517
+     */
+    public function testHandlesDependsAnnotationForNonexistentTests(): void
+    {
+        $this->assertTrue(true);
+    }
 }
diff --git a/tests/end-to-end/dependencies-isolation.phpt b/tests/end-to-end/dependencies-isolation.phpt
index 88c0808b03c..fc451a02782 100644
--- a/tests/end-to-end/dependencies-isolation.phpt
+++ b/tests/end-to-end/dependencies-isolation.phpt
@@ -15,10 +15,17 @@ PHPUnit %s by Sebastian Bergmann and contributors.
 
 Runtime:       %s
 
-...FSSS                                                             7 / 7 (100%)
+...FSSSW                                                            8 / 8 (100%)
 
 Time: %s, Memory: %s
 
+There was 1 warning:
+
+1) DependencyFailureTest::testHandlesDependsAnnotationForNonexistentTests
+This test depends on "DependencyFailureTest::doesNotExist" which does not exist.
+
+--
+
 There was 1 failure:
 
 1) DependencyFailureTest::testOne
@@ -39,4 +46,4 @@ This test depends on "DependencyFailureTest::testTwo" to pass.
 This test depends on "DependencyFailureTest::testOne" to pass.
 
 FAILURES!
-Tests: 7, Assertions: 4, Failures: 1, Skipped: 3.
+Tests: 8, Assertions: 4, Failures: 1, Warnings: 1, Skipped: 3.
diff --git a/tests/end-to-end/dependencies.phpt b/tests/end-to-end/dependencies.phpt
index 8fab9884d24..e05fdda1dcb 100644
--- a/tests/end-to-end/dependencies.phpt
+++ b/tests/end-to-end/dependencies.phpt
@@ -14,10 +14,17 @@ PHPUnit %s by Sebastian Bergmann and contributors.
 
 Runtime:       %s
 
-...FSSS                                                             7 / 7 (100%)
+...FSSSW                                                            8 / 8 (100%)
 
 Time: %s, Memory: %s
 
+There was 1 warning:
+
+1) DependencyFailureTest::testHandlesDependsAnnotationForNonexistentTests
+This test depends on "DependencyFailureTest::doesNotExist" which does not exist.
+
+--
+
 There was 1 failure:
 
 1) DependencyFailureTest::testOne
@@ -38,4 +45,4 @@ This test depends on "DependencyFailureTest::testTwo" to pass.
 This test depends on "DependencyFailureTest::testOne" to pass.
 
 FAILURES!
-Tests: 7, Assertions: 4, Failures: 1, Skipped: 3.
+Tests: 8, Assertions: 4, Failures: 1, Warnings: 1, Skipped: 3.