diff --git a/homeassistant/components/teslemetry/helpers.py b/homeassistant/components/teslemetry/helpers.py
index 2326f68d4fbd..148bb5d846fd 100644
--- a/homeassistant/components/teslemetry/helpers.py
+++ b/homeassistant/components/teslemetry/helpers.py
@@ -99,10 +99,16 @@ async def handle_command(command: Awaitable[dict[str, Any]]) -> dict[str, Any]:
     try:
         result = await command
     except TeslaFleetError as e:
+        message = e.message
+        if isinstance(e.data, dict):
+            # An error equal to the class key is the machine code that selected it
+            if (error := e.data.get("error")) == e.key:
+                error = None
+            message = e.data.get("error_description") or error or message
         raise HomeAssistantError(
             translation_domain=DOMAIN,
             translation_key="command_exception",
-            translation_placeholders={"message": e.message},
+            translation_placeholders={"message": message},
         ) from e
     except (ClientError, TimeoutError) as e:
         raise HomeAssistantError(
diff --git a/tests/components/teslemetry/test_switch.py b/tests/components/teslemetry/test_switch.py
index a2e657c43506..adf4892ff5d2 100644
--- a/tests/components/teslemetry/test_switch.py
+++ b/tests/components/teslemetry/test_switch.py
@@ -4,7 +4,7 @@ from unittest.mock import AsyncMock, patch
 
 import pytest
 from syrupy.assertion import SnapshotAssertion
-from tesla_fleet_api.exceptions import InvalidCommand
+from tesla_fleet_api.exceptions import InvalidCommand, InvalidRequest, TeslaFleetError
 from teslemetry_stream import Signal
 
 from homeassistant.components.switch import (
@@ -149,7 +149,49 @@ async def test_switch_command_errors(hass: HomeAssistant, response: dict) -> Non
 
 
 @pytest.mark.usefixtures("entity_registry_enabled_by_default")
-async def test_switch_command_exception(hass: HomeAssistant) -> None:
+@pytest.mark.parametrize(
+    ("side_effect", "message"),
+    [
+        pytest.param(
+            InvalidCommand,
+            "Command returned exception: The data request or command is unknown.",
+            id="no_data",
+        ),
+        pytest.param(
+            InvalidRequest(
+                {"error": "invalid_request", "error_description": "detail from server"}
+            ),
+            "Command returned exception: detail from server",
+            id="error_description",
+        ),
+        pytest.param(
+            InvalidRequest(
+                {
+                    "response": None,
+                    "error": "vehicle rejected the command",
+                    "error_description": "",
+                }
+            ),
+            "Command returned exception: vehicle rejected the command",
+            id="error",
+        ),
+        pytest.param(
+            InvalidCommand({"error": "invalid_command", "error_description": ""}),
+            "Command returned exception: The data request or command is unknown.",
+            id="error_is_key",
+        ),
+        pytest.param(
+            InvalidRequest({"response": None}),
+            "Command returned exception: The request body is not valid",
+            id="no_error_detail",
+        ),
+    ],
+)
+async def test_switch_command_exception(
+    hass: HomeAssistant,
+    side_effect: type[TeslaFleetError] | TeslaFleetError,
+    message: str,
+) -> None:
     """Tests that an energy command SDK exception raises HomeAssistantError."""
 
     await setup_platform(hass, [Platform.SWITCH])
@@ -157,9 +199,9 @@ async def test_switch_command_exception(hass: HomeAssistant) -> None:
     with (
         patch(
             "tesla_fleet_api.teslemetry.EnergySite.storm_mode",
-            side_effect=InvalidCommand,
+            side_effect=side_effect,
         ),
-        pytest.raises(HomeAssistantError),
+        pytest.raises(HomeAssistantError, match=f"^{message}$"),
     ):
         await hass.services.async_call(
             SWITCH_DOMAIN,