diff --git a/CHANGELOG.next.asciidoc b/CHANGELOG.next.asciidoc
index 8bff85b9747..a4ead1451b3 100644
--- a/CHANGELOG.next.asciidoc
+++ b/CHANGELOG.next.asciidoc
@@ -71,6 +71,7 @@ https://github.com/elastic/beats/compare/v7.0.0-alpha2...master[Check the HEAD d
 - Fix SSL config in input.yml for Filebeat httpjson input in the MISP module. {pull}14767[14767]
 - Check content-type when creating new reader in s3 input. {pull}15252[15252] {issue}15225[15225]
 - Fix session reset detection and a crash in Netflow input. {pull}14904[14904]
+- Handle errors in handleS3Objects function and add more debug messages for s3 input. {pull}15545[15545]
 - netflow: Allow for options templates without scope fields. {pull}15449[15449]
 - netflow: Fix bytes/packets counters on some devices (NSEL and Netstream). {pull}15449[15449]
 - netflow: Fix compatibility with some Cisco devices by changing the field `class_id` from short to long. {pull}15449[15449]
diff --git a/x-pack/filebeat/input/s3/input.go b/x-pack/filebeat/input/s3/input.go
index 3ef20ee1041..eef16d918fa 100644
--- a/x-pack/filebeat/input/s3/input.go
+++ b/x-pack/filebeat/input/s3/input.go
@@ -232,6 +232,7 @@ func (p *s3Input) Wait() {
 func (p *s3Input) processor(queueURL string, messages []sqs.Message, visibilityTimeout int64, svcS3 s3iface.ClientAPI, svcSQS sqsiface.ClientAPI) {
 	var wg sync.WaitGroup
 	numMessages := len(messages)
+	p.logger.Debugf("Processing %v messages", numMessages)
 	wg.Add(numMessages * 2)
 
 	// process messages received from sqs
@@ -251,14 +252,16 @@ func (p *s3Input) processMessage(svcS3 s3iface.ClientAPI, message sqs.Message, w
 		p.logger.Error(errors.Wrap(err, "handleSQSMessage failed"))
 		return
 	}
+	p.logger.Debugf("handleSQSMessage succeed and returned %v sets of S3 log info", len(s3Infos))
 
 	// read from s3 object and create event for each log line
 	err = p.handleS3Objects(svcS3, s3Infos, errC)
 	if err != nil {
 		err = errors.Wrap(err, "handleS3Objects failed")
 		p.logger.Error(err)
-		errC <- err
+		return
 	}
+	p.logger.Debugf("handleS3Objects succeed")
 }
 
 func (p *s3Input) processorKeepAlive(svcSQS sqsiface.ClientAPI, message sqs.Message, queueURL string, visibilityTimeout int64, wg *sync.WaitGroup, errC chan error) {
@@ -288,13 +291,14 @@ func (p *s3Input) processorKeepAlive(svcSQS sqsiface.ClientAPI, message sqs.Mess
 			}
 			return
 		case <-time.After(time.Duration(visibilityTimeout/2) * time.Second):
+			p.logger.Warn("Half of the set visibilityTimeout passed, visibility timeout needs to be updated")
 			// If half of the set visibilityTimeout passed and this is
 			// still ongoing, then change visibility timeout.
 			err := p.changeVisibilityTimeout(queueURL, visibilityTimeout, svcSQS, message.ReceiptHandle)
 			if err != nil {
 				p.logger.Error(errors.Wrap(err, "change message visibility failed"))
 			}
-			p.logger.Infof("Message visibility timeout updated to %v", visibilityTimeout)
+			p.logger.Infof("Message visibility timeout updated to %v seconds", visibilityTimeout)
 		}
 	}
 }
@@ -370,8 +374,11 @@ func (p *s3Input) handleS3Objects(svc s3iface.ClientAPI, s3Infos []s3Info, errC
 		// read from s3 object
 		reader, err := p.newS3BucketReader(svc, s3Info)
 		if err != nil {
-			return errors.Wrap(err, "newS3BucketReader failed")
+			err = errors.Wrap(err, "newS3BucketReader failed")
+			s3Context.setError(err)
+			return err
 		}
+
 		if reader == nil {
 			continue
 		}
@@ -382,7 +389,7 @@ func (p *s3Input) handleS3Objects(svc s3iface.ClientAPI, s3Infos []s3Info, errC
 			err := p.decodeJSONWithKey(decoder, objectHash, s3Info, s3Context)
 			if err != nil {
 				err = errors.Wrapf(err, "decodeJSONWithKey failed for %v", s3Info.key)
-				s3Context.Fail(err)
+				s3Context.setError(err)
 				return err
 			}
 			return nil
@@ -403,12 +410,14 @@ func (p *s3Input) handleS3Objects(svc s3iface.ClientAPI, s3Infos []s3Info, errC
 				err = p.forwardEvent(event)
 				if err != nil {
 					err = errors.Wrapf(err, "forwardEvent failed for %v", s3Info.key)
-					s3Context.Fail(err)
+					s3Context.setError(err)
 					return err
 				}
 				return nil
 			} else if err != nil {
-				return errors.Wrapf(err, "ReadString failed for %v", s3Info.key)
+				err = errors.Wrapf(err, "ReadString failed for %v", s3Info.key)
+				s3Context.setError(err)
+				return err
 			}
 
 			// create event per log line
@@ -417,7 +426,7 @@ func (p *s3Input) handleS3Objects(svc s3iface.ClientAPI, s3Infos []s3Info, errC
 			err = p.forwardEvent(event)
 			if err != nil {
 				err = errors.Wrapf(err, "forwardEvent failed for %v", s3Info.key)
-				s3Context.Fail(err)
+				s3Context.setError(err)
 				return err
 			}
 		}
@@ -610,11 +619,6 @@ func s3ObjectHash(s3Info s3Info) string {
 	return prefix[:10]
 }
 
-func (c *s3Context) Fail(err error) {
-	c.setError(err)
-	c.done()
-}
-
 func (c *s3Context) setError(err error) {
 	// only care about the last error for now
 	// TODO: add "Typed" error to error for context