diff --git a/doc/api/util.md b/doc/api/util.md
index ef11b744c5d..a4b9699c112 100644
--- a/doc/api/util.md
+++ b/doc/api/util.md
@@ -436,7 +436,7 @@ corresponding argument. Supported specifiers are:
 
 * `%s`: `String` will be used to convert all values except `BigInt`, `Object`
   and `-0`. `BigInt` values will be represented with an `n` and Objects that
-  have no user defined `toString` function are inspected using `util.inspect()`
+  have neither a user defined `toString` function nor `Symbol.toPrimitive` function are inspected using `util.inspect()`
   with options `{ depth: 0, colors: false, compact: 3 }`.
 * `%d`: `Number` will be used to convert all values except `BigInt` and
   `Symbol`.
diff --git a/lib/internal/util/inspect.js b/lib/internal/util/inspect.js
index f38eecba6ae..976d77fa43b 100644
--- a/lib/internal/util/inspect.js
+++ b/lib/internal/util/inspect.js
@@ -2161,27 +2161,32 @@ function hasBuiltInToString(value) {
     value = proxyTarget;
   }
 
-  // Check if value has a custom Symbol.toPrimitive transformation.
-  if (typeof value[SymbolToPrimitive] === 'function') {
-    return false;
-  }
+  let hasOwnToString = ObjectPrototypeHasOwnProperty;
+  let hasOwnToPrimitive = ObjectPrototypeHasOwnProperty;
 
-  // Count objects that have no `toString` function as built-in.
+  // Count objects without `toString` and `Symbol.toPrimitive` function as built-in.
   if (typeof value.toString !== 'function') {
-    return true;
-  }
-
-  // The object has a own `toString` property. Thus it's not not a built-in one.
-  if (ObjectPrototypeHasOwnProperty(value, 'toString')) {
+    if (typeof value[SymbolToPrimitive] !== 'function') {
+      return true;
+    } else if (ObjectPrototypeHasOwnProperty(value, SymbolToPrimitive)) {
+      return false;
+    }
+    hasOwnToString = returnFalse;
+  } else if (ObjectPrototypeHasOwnProperty(value, 'toString')) {
+    return false;
+  } else if (typeof value[SymbolToPrimitive] !== 'function') {
+    hasOwnToPrimitive = returnFalse;
+  } else if (ObjectPrototypeHasOwnProperty(value, SymbolToPrimitive)) {
     return false;
   }
 
-  // Find the object that has the `toString` property as own property in the
-  // prototype chain.
+  // Find the object that has the `toString` property or `Symbol.toPrimitive` property
+  // as own property in the prototype chain.
   let pointer = value;
   do {
     pointer = ObjectGetPrototypeOf(pointer);
-  } while (!ObjectPrototypeHasOwnProperty(pointer, 'toString'));
+  } while (!hasOwnToString(pointer, 'toString') &&
+    !hasOwnToPrimitive(pointer, SymbolToPrimitive));
 
   // Check closer if the object is a built-in.
   const descriptor = ObjectGetOwnPropertyDescriptor(pointer, 'constructor');
@@ -2190,6 +2195,10 @@ function hasBuiltInToString(value) {
     builtInObjects.has(descriptor.value.name);
 }
 
+function returnFalse() {
+  return false;
+}
+
 const firstErrorLine = (error) => StringPrototypeSplit(error.message, '\n', 1)[0];
 let CIRCULAR_ERROR_MESSAGE;
 function tryStringify(arg) {
diff --git a/test/parallel/test-util-format.js b/test/parallel/test-util-format.js
index 6f222d0fea0..ad77c7cafd3 100644
--- a/test/parallel/test-util-format.js
+++ b/test/parallel/test-util-format.js
@@ -290,6 +290,68 @@ assert.strictEqual(util.format('%s', -Infinity), '-Infinity');
   assert.strictEqual(util.format('%s', objectWithToPrimitive + ''), 'default context');
 }
 
+// built-in toPrimitive is the same behavior as inspect
+{
+  const date = new Date('2023-10-01T00:00:00Z');
+  assert.strictEqual(util.format('%s', date), util.inspect(date));
+
+  const symbol = Symbol('foo');
+  assert.strictEqual(util.format('%s', symbol), util.inspect(symbol));
+}
+
+// Prototype chain handling for toString
+{
+  function hasToStringButNoToPrimitive() {}
+
+  hasToStringButNoToPrimitive.prototype.toString = function() {
+    return 'hasToStringButNoToPrimitive';
+  };
+
+  let obj = new hasToStringButNoToPrimitive();
+  assert.strictEqual(util.format('%s', obj.toString()), 'hasToStringButNoToPrimitive');
+
+  function inheritsFromHasToStringButNoToPrimitive() {}
+  Object.setPrototypeOf(inheritsFromHasToStringButNoToPrimitive.prototype,
+                        hasToStringButNoToPrimitive.prototype);
+  obj = new inheritsFromHasToStringButNoToPrimitive();
+  assert.strictEqual(util.format('%s', obj.toString()), 'hasToStringButNoToPrimitive');
+}
+
+// Prototype chain handling for Symbol.toPrimitive
+{
+  function hasToPrimitiveButNoToString() {}
+
+  hasToPrimitiveButNoToString.prototype[Symbol.toPrimitive] = function() {
+    return 'hasToPrimitiveButNoToString';
+  };
+
+  let obj = new hasToPrimitiveButNoToString();
+  assert.strictEqual(util.format('%s', obj[Symbol.toPrimitive]()), 'hasToPrimitiveButNoToString');
+  function inheritsFromHasToPrimitiveButNoToString() {}
+  Object.setPrototypeOf(inheritsFromHasToPrimitiveButNoToString.prototype,
+                        hasToPrimitiveButNoToString.prototype);
+  obj = new inheritsFromHasToPrimitiveButNoToString();
+  assert.strictEqual(util.format('%s', obj[Symbol.toPrimitive]()), 'hasToPrimitiveButNoToString');
+}
+
+// Prototype chain handling for both toString and Symbol.toPrimitive
+{
+  function hasBothToStringAndToPrimitive() {}
+  hasBothToStringAndToPrimitive.prototype.toString = function() {
+    return 'toString';
+  };
+  hasBothToStringAndToPrimitive.prototype[Symbol.toPrimitive] = function() {
+    return 'toPrimitive';
+  };
+  let obj = new hasBothToStringAndToPrimitive();
+  assert.strictEqual(util.format('%s', obj.toString()), 'toString');
+  function inheritsFromHasBothToStringAndToPrimitive() {}
+  Object.setPrototypeOf(inheritsFromHasBothToStringAndToPrimitive.prototype,
+                        hasBothToStringAndToPrimitive.prototype);
+  obj = new inheritsFromHasBothToStringAndToPrimitive();
+  assert.strictEqual(util.format('%s', obj.toString()), 'toString');
+}
+
 // JSON format specifier
 assert.strictEqual(util.format('%j'), '%j');
 assert.strictEqual(util.format('%j', 42), '42');