diff --git a/CHANGELOG.md b/CHANGELOG.md
index 96530278..18ad81d0 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -2,6 +2,9 @@
 
 ## Unreleased
 
+- Improve the `NotAuthorizedError` message to include the policy class.
+Furthermore, in the case where the record passed is a class instead of an instance, the class name is given. (#812)
+
 ## 2.3.2 (2024-05-08)
 
 - Refactor: First pass of Pundit::Context (#797)
diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
index a44e1c24..09f2c76f 100644
--- a/CONTRIBUTING.md
+++ b/CONTRIBUTING.md
@@ -28,3 +28,4 @@ Pundit version, OS version and any stack traces you have are very valuable.
 - **Send coherent history**. Make sure each individual commit in your pull
   request is meaningful. If you had to make multiple intermediate commits while
   developing, please squash them before sending them to us.
+- **Update the CHANGELOG.** Don't forget to add your new changes to the CHANGELOG.
diff --git a/README.md b/README.md
index daa30138..d1dd6339 100644
--- a/README.md
+++ b/README.md
@@ -116,7 +116,7 @@ and the given record. It then infers from the action name, that it should call
 
 ``` ruby
 unless PostPolicy.new(current_user, @post).update?
-  raise Pundit::NotAuthorizedError, "not allowed to update? this #{@post.inspect}"
+  raise Pundit::NotAuthorizedError, "not allowed to PostPolicy#update? this Post"
 end
 ```
 
diff --git a/lib/pundit.rb b/lib/pundit.rb
index 27dd032a..a03f4d3a 100644
--- a/lib/pundit.rb
+++ b/lib/pundit.rb
@@ -36,7 +36,10 @@ def initialize(options = {})
         @record = options[:record]
         @policy = options[:policy]
 
-        message = options.fetch(:message) { "not allowed to #{query} this #{record.class}" }
+        message = options.fetch(:message) do
+          record_name = record.is_a?(Class) ? record.to_s : "this #{record.class}"
+          "not allowed to #{policy.class}##{query} #{record_name}"
+        end
       end
 
       super(message)
diff --git a/spec/pundit_spec.rb b/spec/pundit_spec.rb
index fadddc85..bcec8633 100644
--- a/spec/pundit_spec.rb
+++ b/spec/pundit_spec.rb
@@ -57,11 +57,11 @@
       expect { Pundit.authorize(user, article_tag, :destroy?) }.to raise_error(Pundit::NotAuthorizedError)
     end
 
-    it "raises an error with a query and action" do
+    it "raises an error with the policy, query and record" do
       # rubocop:disable Style/MultilineBlockChain
       expect do
         Pundit.authorize(user, post, :destroy?)
-      end.to raise_error(Pundit::NotAuthorizedError, "not allowed to destroy? this Post") do |error|
+      end.to raise_error(Pundit::NotAuthorizedError, "not allowed to PostPolicy#destroy? this Post") do |error|
         expect(error.query).to eq :destroy?
         expect(error.record).to eq post
         expect(error.policy).to have_attributes(
@@ -73,11 +73,12 @@
       # rubocop:enable Style/MultilineBlockChain
     end
 
-    it "raises an error with a the record, query and action when the record is namespaced" do
+    it "raises an error with the policy, query and record when the record is namespaced" do
       # rubocop:disable Style/MultilineBlockChain
       expect do
         Pundit.authorize(user, [:project, :admin, comment], :destroy?)
-      end.to raise_error(Pundit::NotAuthorizedError, "not allowed to destroy? this Comment") do |error|
+      end.to raise_error(Pundit::NotAuthorizedError,
+                         "not allowed to Project::Admin::CommentPolicy#destroy? this Comment") do |error|
         expect(error.query).to eq :destroy?
         expect(error.record).to eq comment
         expect(error.policy).to have_attributes(
@@ -89,6 +90,22 @@
       # rubocop:enable Style/MultilineBlockChain
     end
 
+    it "raises an error with the policy, query and the class name when a Class is given" do
+      # rubocop:disable Style/MultilineBlockChain
+      expect do
+        Pundit.authorize(user, Post, :destroy?)
+      end.to raise_error(Pundit::NotAuthorizedError, "not allowed to PostPolicy#destroy? Post") do |error|
+        expect(error.query).to eq :destroy?
+        expect(error.record).to eq Post
+        expect(error.policy).to have_attributes(
+          user: user,
+          record: Post
+        )
+        expect(error.policy).to be_a(PostPolicy)
+      end
+      # rubocop:enable Style/MultilineBlockChain
+    end
+
     it "raises an error with a invalid policy constructor" do
       expect do
         Pundit.authorize(user, wiki, :update?)