diff --git a/command/agent/http.go b/command/agent/http.go
index 0fffaee8bb1..3993bdc6307 100644
--- a/command/agent/http.go
+++ b/command/agent/http.go
@@ -467,7 +467,11 @@ func (s *HTTPServer) wrap(handler func(resp http.ResponseWriter, req *http.Reque
 
 			resp.WriteHeader(code)
 			resp.Write([]byte(errMsg))
-			s.logger.Error("request failed", "method", req.Method, "path", reqURL, "error", err, "code", code)
+			if isAPIClientError(code) {
+				s.logger.Debug("request failed", "method", req.Method, "path", reqURL, "error", err, "code", code)
+			} else {
+				s.logger.Error("request failed", "method", req.Method, "path", reqURL, "error", err, "code", code)
+			}
 			return
 		}
 
@@ -521,7 +525,11 @@ func (s *HTTPServer) wrapNonJSON(handler func(resp http.ResponseWriter, req *htt
 			code, errMsg := errCodeFromHandler(err)
 			resp.WriteHeader(code)
 			resp.Write([]byte(errMsg))
-			s.logger.Error("request failed", "method", req.Method, "path", reqURL, "error", err, "code", code)
+			if isAPIClientError(code) {
+				s.logger.Debug("request failed", "method", req.Method, "path", reqURL, "error", err, "code", code)
+			} else {
+				s.logger.Error("request failed", "method", req.Method, "path", reqURL, "error", err, "code", code)
+			}
 			return
 		}
 
@@ -533,6 +541,11 @@ func (s *HTTPServer) wrapNonJSON(handler func(resp http.ResponseWriter, req *htt
 	return f
 }
 
+// isAPIClientError returns true if the passed http code represents a client error
+func isAPIClientError(code int) bool {
+	return 400 <= code && code <= 499
+}
+
 // decodeBody is used to decode a JSON request body
 func decodeBody(req *http.Request, out interface{}) error {
 	dec := json.NewDecoder(req.Body)
diff --git a/command/agent/http_test.go b/command/agent/http_test.go
index 5659db111bd..1b05706599b 100644
--- a/command/agent/http_test.go
+++ b/command/agent/http_test.go
@@ -1082,6 +1082,18 @@ func TestHTTPServer_Limits_OK(t *testing.T) {
 	}
 }
 
+func Test_IsAPIClientError(t *testing.T) {
+	trueCases := []int{400, 403, 404, 499}
+	for _, c := range trueCases {
+		require.Truef(t, isAPIClientError(c), "code: %v", c)
+	}
+
+	falseCases := []int{100, 300, 500, 501, 505}
+	for _, c := range falseCases {
+		require.Falsef(t, isAPIClientError(c), "code: %v", c)
+	}
+}
+
 func httpTest(t testing.TB, cb func(c *Config), f func(srv *TestAgent)) {
 	s := makeHTTPServer(t, cb)
 	defer s.Shutdown()