diff --git a/service/dap/daptest/client.go b/service/dap/daptest/client.go
index 3ad61ae1..53ba1b25 100644
--- a/service/dap/daptest/client.go
+++ b/service/dap/daptest/client.go
@@ -511,6 +511,15 @@ func (c *Client) UnknownEvent() {
 	c.send(event)
 }
 
+// BadRequest triggers an unmarshal error.
+func (c *Client) BadRequest() {
+	content := []byte("{malformedString}")
+	contentLengthHeaderFmt := "Content-Length: %d\r\n\r\n"
+	header := fmt.Sprintf(contentLengthHeaderFmt, len(content))
+	c.conn.Write([]byte(header))
+	c.conn.Write(content)
+}
+
 // KnownEvent passes decode checks, but delve has no 'case' to
 // handle it. This behaves the same way a new request type
 // added to go-dap, but not to delve.
diff --git a/service/dap/server.go b/service/dap/server.go
index d88b832c..f9fe0fc4 100644
--- a/service/dap/server.go
+++ b/service/dap/server.go
@@ -358,18 +358,24 @@ func (s *Server) serveDAPCodec() {
 	s.reader = bufio.NewReader(s.conn)
 	for {
 		request, err := dap.ReadProtocolMessage(s.reader)
-		// TODO(polina): Differentiate between errors and handle them
-		// gracefully. For example,
+		// Handle dap.DecodeProtocolMessageFieldError errors gracefully by responding with an ErrorResponse.
+		// For example:
 		// -- "Request command 'foo' is not supported" means we
 		// potentially got some new DAP request that we do not yet have
 		// decoding support for, so we can respond with an ErrorResponse.
-		// TODO(polina): to support this add Seq to
-		// dap.DecodeProtocolMessageFieldError.
+		//
+		// Other errors, such as unmarshalling errors, will log the error and cause the server to trigger
+		// a stop.
 		if err != nil {
 			select {
 			case <-s.stopTriggered:
 			default:
 				if err != io.EOF {
+					if decodeErr, ok := err.(*dap.DecodeProtocolMessageFieldError); ok {
+						// Send an error response to the users if we were unable to process the message.
+						s.sendInternalErrorResponse(decodeErr.Seq, err.Error())
+						continue
+					}
 					s.log.Error("DAP error: ", err)
 				}
 				s.triggerServerStop()
diff --git a/service/dap/server_test.go b/service/dap/server_test.go
index e7a0c31f..615a8f1a 100644
--- a/service/dap/server_test.go
+++ b/service/dap/server_test.go
@@ -4869,7 +4869,7 @@ func TestBadlyFormattedMessageToServer(t *testing.T) {
 	runTest(t, "increment", func(client *daptest.Client, fixture protest.Fixture) {
 		// Send a badly formatted message to the server, and expect it to close the
 		// connection.
-		client.UnknownRequest()
+		client.BadRequest()
 		time.Sleep(100 * time.Millisecond)
 
 		_, err := client.ReadMessage()
@@ -4878,4 +4878,17 @@ func TestBadlyFormattedMessageToServer(t *testing.T) {
 			t.Errorf("got err=%v, want io.EOF", err)
 		}
 	})
+	runTest(t, "increment", func(client *daptest.Client, fixture protest.Fixture) {
+		// Send an unknown request message to the server, and expect it to send
+		// an error response.
+		client.UnknownRequest()
+		err := client.ExpectErrorResponse(t)
+		if err.Body.Error.Format != "Internal Error: Request command 'unknown' is not supported (seq: 1)" || err.RequestSeq != 1 {
+			t.Errorf("got %v, want  RequestSeq=1 Error=\"Internal Error: Request command 'unknown' is not supported (seq: 1)\"", err)
+		}
+
+		// Make sure that the unknown request did not kill the server.
+		client.InitializeRequest()
+		client.ExpectInitializeResponse(t)
+	})
 }