diff --git a/src/material-experimental/mdc-input/input.spec.ts b/src/material-experimental/mdc-input/input.spec.ts
index 4d7a47f0a18b..ac0eb7fa00ac 100644
--- a/src/material-experimental/mdc-input/input.spec.ts
+++ b/src/material-experimental/mdc-input/input.spec.ts
@@ -1081,7 +1081,7 @@ describe('MatMdcInput with forms', () => {
       expect(describedBy).toBe(errorIds);
     }));
 
-    it('should not set `aria-invalid` to true if the input is empty', fakeAsync(() => {
+    it('should set `aria-invalid` to true if the input is empty', fakeAsync(() => {
       // Submit the form since it's the one that triggers the default error state matcher.
       dispatchFakeEvent(fixture.nativeElement.querySelector('form'), 'submit');
       fixture.detectChanges();
@@ -1090,7 +1090,7 @@ describe('MatMdcInput with forms', () => {
       expect(testComponent.formControl.invalid).toBe(true, 'Expected form control to be invalid');
       expect(inputEl.value).toBeFalsy();
       expect(inputEl.getAttribute('aria-invalid'))
-          .toBe('false', 'Expected aria-invalid to be set to "false".');
+          .toBe('true', 'Expected aria-invalid to be set to "true"');
 
       inputEl.value = 'not valid';
       fixture.detectChanges();
diff --git a/src/material-experimental/mdc-input/input.ts b/src/material-experimental/mdc-input/input.ts
index c16577810517..329d386fc21a 100644
--- a/src/material-experimental/mdc-input/input.ts
+++ b/src/material-experimental/mdc-input/input.ts
@@ -39,7 +39,7 @@ import {MatInput as BaseMatInput} from '@angular/material/input';
     '[attr.readonly]': 'readonly && !_isNativeSelect || null',
     // Only mark the input as invalid for assistive technology if it has a value since the
     // state usually overlaps with `aria-required` when the input is empty and can be redundant.
-    '[attr.aria-invalid]': 'errorState && !empty',
+    '[attr.aria-invalid]': '(empty && required) ? null : errorState',
     '[attr.aria-required]': 'required',
   },
   providers: [{provide: MatFormFieldControl, useExisting: MatInput}],
diff --git a/src/material/input/input.spec.ts b/src/material/input/input.spec.ts
index 96695bec2f98..d1c8c48a8f60 100644
--- a/src/material/input/input.spec.ts
+++ b/src/material/input/input.spec.ts
@@ -1219,7 +1219,7 @@ describe('MatInput with forms', () => {
       expect(describedBy).toBe(errorIds);
     }));
 
-    it('should not set `aria-invalid` to true if the input is empty', fakeAsync(() => {
+    it('should set `aria-invalid` to true if the input is empty', fakeAsync(() => {
       // Submit the form since it's the one that triggers the default error state matcher.
       dispatchFakeEvent(fixture.nativeElement.querySelector('form'), 'submit');
       fixture.detectChanges();
@@ -1228,7 +1228,7 @@ describe('MatInput with forms', () => {
       expect(testComponent.formControl.invalid).toBe(true, 'Expected form control to be invalid');
       expect(inputEl.value).toBeFalsy();
       expect(inputEl.getAttribute('aria-invalid'))
-          .toBe('false', 'Expected aria-invalid to be set to "false".');
+          .toBe('true', 'Expected aria-invalid to be set to "true".');
 
       inputEl.value = 'not valid';
       fixture.detectChanges();
diff --git a/src/material/input/input.ts b/src/material/input/input.ts
index 7a56680b6843..3443a23681d9 100644
--- a/src/material/input/input.ts
+++ b/src/material/input/input.ts
@@ -83,7 +83,7 @@ const _MatInputBase = mixinErrorState(class {
     '[attr.readonly]': 'readonly && !_isNativeSelect || null',
     // Only mark the input as invalid for assistive technology if it has a value since the
     // state usually overlaps with `aria-required` when the input is empty and can be redundant.
-    '[attr.aria-invalid]': 'errorState && !empty',
+    '[attr.aria-invalid]': '(empty && required) ? null : errorState',
     '[attr.aria-required]': 'required',
   },
   providers: [{provide: MatFormFieldControl, useExisting: MatInput}],