diff --git a/resource-managers/kubernetes/core/src/main/scala/org/apache/spark/deploy/k8s/submit/KubernetesClientApplication.scala b/resource-managers/kubernetes/core/src/main/scala/org/apache/spark/deploy/k8s/submit/KubernetesClientApplication.scala
index 14d3c4d1f42f4..9f9b5655e26fc 100644
--- a/resource-managers/kubernetes/core/src/main/scala/org/apache/spark/deploy/k8s/submit/KubernetesClientApplication.scala
+++ b/resource-managers/kubernetes/core/src/main/scala/org/apache/spark/deploy/k8s/submit/KubernetesClientApplication.scala
@@ -180,8 +180,8 @@ private[spark] class Client(
         throw e
     }
 
+    val sId = Client.submissionId(conf.namespace, driverPodName)
     if (conf.get(WAIT_FOR_APP_COMPLETION)) {
-      val sId = Seq(conf.namespace, driverPodName).mkString(":")
       breakable {
         while (true) {
           val podWithName = kubernetesClient
@@ -202,10 +202,17 @@ private[spark] class Client(
           }
         }
       }
+    } else {
+      logInfo(s"Deployed Spark application ${conf.appName} with application ID ${conf.appId} " +
+        s"and submission ID $sId into Kubernetes")
     }
   }
 }
 
+private[spark] object Client {
+  def submissionId(namespace: String, driverPodName: String): String = s"$namespace:$driverPodName"
+}
+
 /**
  * Main class and entry point of application submission in KUBERNETES mode.
  */
diff --git a/resource-managers/kubernetes/core/src/main/scala/org/apache/spark/deploy/k8s/submit/LoggingPodStatusWatcher.scala b/resource-managers/kubernetes/core/src/main/scala/org/apache/spark/deploy/k8s/submit/LoggingPodStatusWatcher.scala
index 81d9145725393..bc8b023b5ecdf 100644
--- a/resource-managers/kubernetes/core/src/main/scala/org/apache/spark/deploy/k8s/submit/LoggingPodStatusWatcher.scala
+++ b/resource-managers/kubernetes/core/src/main/scala/org/apache/spark/deploy/k8s/submit/LoggingPodStatusWatcher.scala
@@ -95,8 +95,9 @@ private[k8s] class LoggingPodStatusWatcherImpl(conf: KubernetesDriverConf)
     this.notifyAll()
   }
 
-  override def watchOrStop(sId: String): Boolean = if (conf.get(WAIT_FOR_APP_COMPLETION)) {
-    logInfo(s"Waiting for application ${conf.appName} with submission ID $sId to finish...")
+  override def watchOrStop(sId: String): Boolean = {
+    logInfo(s"Waiting for application ${conf.appName} with application ID ${conf.appId} " +
+      s"and submission ID $sId to finish...")
     val interval = conf.get(REPORT_INTERVAL)
     synchronized {
       while (!podCompleted && !resourceTooOldReceived) {
@@ -109,12 +110,9 @@ private[k8s] class LoggingPodStatusWatcherImpl(conf: KubernetesDriverConf)
       logInfo(
         pod.map { p => s"Container final statuses:\n\n${containersDescription(p)}" }
           .getOrElse("No containers were found in the driver pod."))
-      logInfo(s"Application ${conf.appName} with submission ID $sId finished")
+      logInfo(s"Application ${conf.appName} with application ID ${conf.appId} " +
+        s"and submission ID $sId finished")
     }
     podCompleted
-  } else {
-    logInfo(s"Deployed Spark application ${conf.appName} with submission ID $sId into Kubernetes")
-    // Always act like the application has completed since we don't want to wait for app completion
-    true
   }
 }
diff --git a/resource-managers/kubernetes/core/src/test/scala/org/apache/spark/deploy/k8s/submit/ClientSuite.scala b/resource-managers/kubernetes/core/src/test/scala/org/apache/spark/deploy/k8s/submit/ClientSuite.scala
index a8c25ab5002c0..8c2be6c142d74 100644
--- a/resource-managers/kubernetes/core/src/test/scala/org/apache/spark/deploy/k8s/submit/ClientSuite.scala
+++ b/resource-managers/kubernetes/core/src/test/scala/org/apache/spark/deploy/k8s/submit/ClientSuite.scala
@@ -33,8 +33,10 @@ import org.scalatestplus.mockito.MockitoSugar._
 
 import org.apache.spark.{SparkConf, SparkFunSuite}
 import org.apache.spark.deploy.k8s.{Config, _}
+import org.apache.spark.deploy.k8s.Config.WAIT_FOR_APP_COMPLETION
 import org.apache.spark.deploy.k8s.Constants._
 import org.apache.spark.deploy.k8s.Fabric8Aliases._
+import org.apache.spark.deploy.k8s.submit.Client.submissionId
 import org.apache.spark.util.Utils
 
 class ClientSuite extends SparkFunSuite with BeforeAndAfter {
@@ -181,7 +183,8 @@ class ClientSuite extends SparkFunSuite with BeforeAndAfter {
     when(podsWithNamespace.resource(fullExpectedPod())).thenReturn(namedPods)
     when(namedPods.create()).thenReturn(podWithOwnerReference())
     when(namedPods.watch(loggingPodStatusWatcher)).thenReturn(mock[Watch])
-    when(loggingPodStatusWatcher.watchOrStop(kconf.namespace + ":" + POD_NAME)).thenReturn(true)
+    val sId = submissionId(kconf.namespace, POD_NAME)
+    when(loggingPodStatusWatcher.watchOrStop(sId)).thenReturn(true)
     doReturn(resourceList)
       .when(kubernetesClient)
       .resourceList(createdResourcesArgumentCaptor.capture())
@@ -343,6 +346,31 @@ class ClientSuite extends SparkFunSuite with BeforeAndAfter {
       kubernetesClient,
       loggingPodStatusWatcher)
     submissionClient.run()
-    verify(loggingPodStatusWatcher).watchOrStop(kconf.namespace + ":driver")
+    verify(loggingPodStatusWatcher).watchOrStop(submissionId(kconf.namespace, POD_NAME))
+  }
+
+  test("SPARK-42813: Print application info when waitAppCompletion is false") {
+    val appName = "SPARK-42813"
+    val logAppender = new LogAppender
+    withLogAppender(logAppender) {
+      val sparkConf = new SparkConf(loadDefaults = false)
+        .set("spark.app.name", appName)
+        .set(WAIT_FOR_APP_COMPLETION, false)
+      kconf = KubernetesTestConf.createDriverConf(sparkConf = sparkConf,
+        resourceNamePrefix = Some(KUBERNETES_RESOURCE_PREFIX))
+      when(driverBuilder.buildFromFeatures(kconf, kubernetesClient))
+        .thenReturn(BUILT_KUBERNETES_SPEC)
+      val submissionClient = new Client(
+        kconf,
+        driverBuilder,
+        kubernetesClient,
+        loggingPodStatusWatcher)
+      submissionClient.run()
+    }
+    val appId = KubernetesTestConf.APP_ID
+    val sId = submissionId(kconf.namespace, POD_NAME)
+    assert(logAppender.loggingEvents.map(_.getMessage.getFormattedMessage).contains(
+      s"Deployed Spark application $appName with application ID $appId " +
+      s"and submission ID $sId into Kubernetes"))
   }
 }