diff --git a/lib/vocabularies/applicator/dependencies.ts b/lib/vocabularies/applicator/dependencies.ts
index f67611286..659db68e1 100644
--- a/lib/vocabularies/applicator/dependencies.ts
+++ b/lib/vocabularies/applicator/dependencies.ts
@@ -30,7 +30,11 @@ export type DependenciesError = ErrorObject<
 export const error: KeywordErrorDefinition = {
   message: ({params: {property, depsCount, deps}}) => {
     const property_ies = depsCount === 1 ? "property" : "properties"
-    return str`must have ${property_ies} ${deps} when property ${property} is present`
+    const quotedDeps = (deps as string)
+      .split(", ")
+      .map((v) => `'${v}'`)
+      .join(", ")
+    return str`must have ${property_ies} ${quotedDeps} when property '${property}' is present`
   },
   params: ({params: {property, depsCount, deps, missingProperty}}) =>
     _`{property: ${property},
diff --git a/spec/errors.spec.ts b/spec/errors.spec.ts
index 5f075845e..a23c2c86c 100644
--- a/spec/errors.spec.ts
+++ b/spec/errors.spec.ts
@@ -393,7 +393,7 @@ describe("Validation errors", () => {
         invalidData1 = {a: 0, foo: 1, baz: 3},
         invalidData2 = {a: 0, bar: 2}
 
-      const msg = "must have properties foo, bar, baz when property a is present"
+      const msg = "must have properties 'foo', 'bar', 'baz' when property 'a' is present"
 
       const validate = ajv.compile(schema)
       shouldBeValid(validate, data)