diff --git a/mllib/src/main/scala/org/apache/spark/ml/util/SchemaUtils.scala b/mllib/src/main/scala/org/apache/spark/ml/util/SchemaUtils.scala
index 78b1da496f254..f4e597e4ea9e7 100644
--- a/mllib/src/main/scala/org/apache/spark/ml/util/SchemaUtils.scala
+++ b/mllib/src/main/scala/org/apache/spark/ml/util/SchemaUtils.scala
@@ -22,7 +22,7 @@ import scala.collection.immutable
 import org.apache.spark.SparkIllegalArgumentException
 import org.apache.spark.ml.attribute._
 import org.apache.spark.ml.linalg.VectorUDT
-import org.apache.spark.sql.catalyst.util.AttributeNameParser
+import org.apache.spark.sql.catalyst.util.{AttributeNameParser, QuotingUtils}
 import org.apache.spark.sql.internal.SQLConf
 import org.apache.spark.sql.types._
 
@@ -209,6 +209,10 @@ private[spark] object SchemaUtils {
     checkColumnTypes(schema, colName, typeCandidates)
   }
 
+  def toSQLId(parts: String): String = {
+    AttributeNameParser.parseAttributeName(parts).map(QuotingUtils.quoteIdentifier).mkString(".")
+  }
+
   /**
    * Get schema field.
    * @param schema input schema
@@ -220,10 +224,9 @@ private[spark] object SchemaUtils {
     if (fieldOpt.isEmpty) {
       throw new SparkIllegalArgumentException(
         errorClass = "FIELD_NOT_FOUND",
-        messageParameters = immutable.Map(
-          "fieldName" -> colName,
-          "fields" -> schema.simpleString
-        )
+        messageParameters = Map(
+          "fieldName" -> toSQLId(colName),
+          "fields" -> schema.fields.map(f => toSQLId(f.name)).mkString(", "))
       )
     }
     fieldOpt.get._2