diff --git a/doc/sudoers.man.in b/doc/sudoers.man.in
index 3923d9954..7338c2af0 100644
--- a/doc/sudoers.man.in
+++ b/doc/sudoers.man.in
@@ -25,7 +25,7 @@
 .nr BA @BAMAN@
 .nr LC @LCMAN@
 .nr PS @PSMAN@
-.TH "SUDOERS" "@mansectform@" "May 7, 2021" "Sudo @PACKAGE_VERSION@" "File Formats Manual"
+.TH "SUDOERS" "@mansectform@" "July 9, 2021" "Sudo @PACKAGE_VERSION@" "File Formats Manual"
 .nh
 .if n .ad l
 .SH "NAME"
@@ -2728,6 +2728,17 @@ by default.
 .sp
 This setting is only supported by version 1.8.29 or higher.
 .TP 18n
+log_exit_status
+If set,
+\fBsudoers\fR
+will log the exit value of commands that are run to syslog and/or a log file.
+If a command was terminated by a signal, the signal name is logged as well.
+This flag is
+\fIoff\fR
+by default.
+.sp
+This setting is only supported by version 1.9.8 or higher.
+.TP 18n
 log_host
 If set, the host name will be included in log entries written to
 the file configured by the
diff --git a/doc/sudoers.mdoc.in b/doc/sudoers.mdoc.in
index ce7c07305..193bbf9a8 100644
--- a/doc/sudoers.mdoc.in
+++ b/doc/sudoers.mdoc.in
@@ -24,7 +24,7 @@
 .nr BA @BAMAN@
 .nr LC @LCMAN@
 .nr PS @PSMAN@
-.Dd May 7, 2021
+.Dd July 9, 2021
 .Dt SUDOERS @mansectform@
 .Os Sudo @PACKAGE_VERSION@
 .Sh NAME
@@ -2573,6 +2573,16 @@ This flag is
 by default.
 .Pp
 This setting is only supported by version 1.8.29 or higher.
+.It log_exit_status
+If set,
+.Nm
+will log the exit value of commands that are run to syslog and/or a log file.
+If a command was terminated by a signal, the signal name is logged as well.
+This flag is
+.Em off
+by default.
+.Pp
+This setting is only supported by version 1.9.8 or higher.
 .It log_host
 If set, the host name will be included in log entries written to
 the file configured by the
diff --git a/plugins/sudoers/def_data.c b/plugins/sudoers/def_data.c
index 5952a069e..d781f3571 100644
--- a/plugins/sudoers/def_data.c
+++ b/plugins/sudoers/def_data.c
@@ -577,6 +577,10 @@ struct sudo_defs_types sudo_defs_table[] = {
 	"admin_flag", T_STR|T_BOOL|T_CHPATH,
 	N_("Path to the file that is created the first time sudo is run: %s"),
 	NULL,
+    }, {
+	"log_exit_status", T_FLAG,
+	N_("Log the exit status of commands"),
+	NULL,
     }, {
 	NULL, 0, NULL
     }
diff --git a/plugins/sudoers/def_data.h b/plugins/sudoers/def_data.h
index fb3f8aa4b..0d6126dbb 100644
--- a/plugins/sudoers/def_data.h
+++ b/plugins/sudoers/def_data.h
@@ -266,6 +266,8 @@
 #define def_selinux             (sudo_defs_table[I_SELINUX].sd_un.flag)
 #define I_ADMIN_FLAG            132
 #define def_admin_flag          (sudo_defs_table[I_ADMIN_FLAG].sd_un.str)
+#define I_LOG_EXIT_STATUS       133
+#define def_log_exit_status     (sudo_defs_table[I_LOG_EXIT_STATUS].sd_un.flag)
 
 enum def_tuple {
     never,
diff --git a/plugins/sudoers/def_data.in b/plugins/sudoers/def_data.in
index 3183fae18..fd8d3715f 100644
--- a/plugins/sudoers/def_data.in
+++ b/plugins/sudoers/def_data.in
@@ -415,3 +415,6 @@ selinux
 admin_flag
 	T_STR|T_BOOL|T_CHPATH
 	"Path to the file that is created the first time sudo is run: %s"
+log_exit_status
+	T_FLAG
+	"Log the exit status of commands"
diff --git a/plugins/sudoers/logging.c b/plugins/sudoers/logging.c
index 06efbf576..d290cfd17 100644
--- a/plugins/sudoers/logging.c
+++ b/plugins/sudoers/logging.c
@@ -492,6 +492,63 @@ log_allowed(void)
     debug_return_bool(ret);
 }
 
+bool
+log_exit_status(int exit_status)
+{
+    struct eventlog evlog;
+    int evl_flags = 0;
+    int ecode = 0;
+    int oldlocale;
+    struct timespec run_time;
+    char sigbuf[SIG2STR_MAX];
+    char *signame = NULL;
+    bool dumped_core = false;
+    bool ret = true;
+    debug_decl(log_exit_status, SUDOERS_DEBUG_LOGGING);
+
+    if (def_log_exit_status || def_mail_always) {
+	if (sudo_gettime_real(&run_time) == -1) {
+	    sudo_warn("%s", U_("unable to get time of day"));
+	    ret = false;
+	    goto done;
+	}
+	sudo_timespecsub(&run_time, &sudo_user.submit_time, &run_time);
+
+        if (WIFEXITED(exit_status)) {
+	    ecode = WEXITSTATUS(exit_status);
+        } else if (WIFSIGNALED(exit_status)) {
+            int signo = WTERMSIG(exit_status);
+            if (signo <= 0 || sig2str(signo, sigbuf) == -1)
+                (void)snprintf(sigbuf, sizeof(sigbuf), "%d", signo);
+	    signame = sigbuf;
+	    ecode = signo | 128;
+	    dumped_core = WCOREDUMP(exit_status);
+        } else {
+            sudo_warnx("invalid exit status 0x%x", exit_status);
+	    ret = false;
+	    goto done;
+        }
+
+	/* Log and mail messages should be in the sudoers locale. */
+	sudoers_setlocale(SUDOERS_LOCALE_SUDOERS, &oldlocale);
+
+	sudoers_to_eventlog(&evlog, NewArgv, env_get());
+	if (def_mail_always) {
+	    SET(evl_flags, EVLOG_MAIL);
+	    if (!def_log_exit_status)
+		SET(evl_flags, EVLOG_MAIL_ONLY);
+	}
+	if (!eventlog_exit(&evlog, evl_flags, &run_time, ecode, signame,
+		dumped_core, NULL, NULL))
+	    ret = false;
+
+	sudoers_setlocale(oldlocale, NULL);
+    }
+
+done:
+    debug_return_bool(ret);
+}
+
 /*
  * Perform logging for log_warning()/log_warningx().
  */
diff --git a/plugins/sudoers/logging.h b/plugins/sudoers/logging.h
index 029b5616e..17938bd2d 100644
--- a/plugins/sudoers/logging.h
+++ b/plugins/sudoers/logging.h
@@ -57,6 +57,7 @@ int sudoers_getlocale(void);
 int audit_failure(char *const argv[], char const *const fmt, ...) __printflike(2, 3);
 int vaudit_failure(char *const argv[], char const *const fmt, va_list ap) __printflike(2, 0);
 bool log_allowed(void);
+bool log_exit_status(int exit_status);
 bool log_auth_failure(int status, unsigned int tries);
 bool log_denial(int status, bool inform_user);
 bool log_failure(int status, int flags);
diff --git a/plugins/sudoers/policy.c b/plugins/sudoers/policy.c
index e42fb932d..199a8be93 100644
--- a/plugins/sudoers/policy.c
+++ b/plugins/sudoers/policy.c
@@ -961,10 +961,11 @@ sudoers_policy_close(int exit_status, int error_code)
 	/* Close the session we opened in sudoers_policy_init_session(). */
 	(void)sudo_auth_end_session(runas_pw);
 
-	/* We do not currently log the exit status. */
 	if (error_code) {
 	    errno = error_code;
 	    sudo_warn(U_("unable to execute %s"), safe_cmnd);
+	} else {
+	    log_exit_status(exit_status);
 	}
     }
 
@@ -1044,8 +1045,8 @@ sudoers_policy_check(int argc, char * const argv[], char *env_add[],
 #ifndef NO_LEAKS
     if (ret == true && sudo_version >= SUDO_API_MKVERSION(1, 3)) {
 	/* Unset close function if we don't need it to avoid extra process. */
-	if (!def_log_input && !def_log_output && !def_use_pty &&
-	    !sudo_auth_needs_end_session())
+	if (!def_log_input && !def_log_output && !def_log_exit_status &&
+	    !def_use_pty && !sudo_auth_needs_end_session())
 	    sudoers_policy.close = NULL;
     }
 #endif
diff --git a/plugins/sudoers/regress/fuzz/fuzz_policy.c b/plugins/sudoers/regress/fuzz/fuzz_policy.c
index 9e285bf3b..6383dc2d9 100644
--- a/plugins/sudoers/regress/fuzz/fuzz_policy.c
+++ b/plugins/sudoers/regress/fuzz/fuzz_policy.c
@@ -704,6 +704,13 @@ log_failure(int status, int flags)
     return true;
 }
 
+/* STUB */
+bool
+log_exit_status(int exit_status)
+{
+    return true;
+}
+
 /* STUB */
 int
 audit_failure(char *const argv[], char const *const fmt, ...)