diff --git a/staging/src/k8s.io/apiserver/pkg/endpoints/handlers/helpers.go b/staging/src/k8s.io/apiserver/pkg/endpoints/handlers/helpers.go
index 244a3fd0a51..3fb7beccad1 100644
--- a/staging/src/k8s.io/apiserver/pkg/endpoints/handlers/helpers.go
+++ b/staging/src/k8s.io/apiserver/pkg/endpoints/handlers/helpers.go
@@ -20,6 +20,7 @@ import (
 	"net/http"
 
 	utilnet "k8s.io/apimachinery/pkg/util/net"
+	"k8s.io/apiserver/pkg/endpoints/request"
 )
 
 const (
@@ -73,3 +74,17 @@ func (lazy *lazyAccept) String() string {
 
 	return "unknown"
 }
+
+// lazyAuditID implements Stringer interface to lazily retrieve
+// the audit ID associated with the request.
+type lazyAuditID struct {
+	req *http.Request
+}
+
+func (lazy *lazyAuditID) String() string {
+	if lazy.req != nil {
+		return request.GetAuditIDTruncated(lazy.req)
+	}
+
+	return "unknown"
+}
diff --git a/staging/src/k8s.io/apiserver/pkg/endpoints/handlers/trace_util.go b/staging/src/k8s.io/apiserver/pkg/endpoints/handlers/trace_util.go
index 69b41fac4e3..8d7c4e1b526 100644
--- a/staging/src/k8s.io/apiserver/pkg/endpoints/handlers/trace_util.go
+++ b/staging/src/k8s.io/apiserver/pkg/endpoints/handlers/trace_util.go
@@ -26,6 +26,7 @@ func traceFields(req *http.Request) []utiltrace.Field {
 	return []utiltrace.Field{
 		{Key: "url", Value: req.URL.Path},
 		{Key: "user-agent", Value: &lazyTruncatedUserAgent{req: req}},
+		{Key: "audit-id", Value: &lazyAuditID{req: req}},
 		{Key: "client", Value: &lazyClientIP{req: req}},
 		{Key: "accept", Value: &lazyAccept{req: req}},
 		{Key: "protocol", Value: req.Proto}}
diff --git a/staging/src/k8s.io/apiserver/pkg/server/filters/timeout_test.go b/staging/src/k8s.io/apiserver/pkg/server/filters/timeout_test.go
index faf8c1ad81a..1cd24358413 100644
--- a/staging/src/k8s.io/apiserver/pkg/server/filters/timeout_test.go
+++ b/staging/src/k8s.io/apiserver/pkg/server/filters/timeout_test.go
@@ -263,7 +263,7 @@ func TestErrConnKilled(t *testing.T) {
 	if strings.Count(capturedOutput, "\n") != 1 {
 		t.Errorf("unexpected output captured actual = %v", capturedOutput)
 	}
-	if !strings.Contains(capturedOutput, `timeout or abort while handling: GET "/"`) {
+	if !strings.Contains(capturedOutput, `timeout or abort while handling: method=GET URI="/" audit-ID=""`) {
 		t.Errorf("unexpected output captured actual = %v", capturedOutput)
 	}
 }
@@ -353,7 +353,7 @@ func TestErrConnKilledHTTP2(t *testing.T) {
 	if strings.Count(capturedOutput, "\n") != 1 {
 		t.Errorf("unexpected output captured actual = %v", capturedOutput)
 	}
-	if !strings.Contains(capturedOutput, `timeout or abort while handling: GET "/"`) {
+	if !strings.Contains(capturedOutput, `timeout or abort while handling: method=GET URI="/" audit-ID=""`) {
 		t.Errorf("unexpected output captured actual = %v", capturedOutput)
 	}
 
diff --git a/staging/src/k8s.io/apiserver/pkg/server/filters/wrap.go b/staging/src/k8s.io/apiserver/pkg/server/filters/wrap.go
index 34c5398dba9..408011fc6c0 100644
--- a/staging/src/k8s.io/apiserver/pkg/server/filters/wrap.go
+++ b/staging/src/k8s.io/apiserver/pkg/server/filters/wrap.go
@@ -51,11 +51,11 @@ func WithPanicRecovery(handler http.Handler, resolver request.RequestInfoResolve
 			// This call can have different handlers, but the default chain rate limits. Call it after the metrics are updated
 			// in case the rate limit delays it.  If you outrun the rate for this one timed out requests, something has gone
 			// seriously wrong with your server, but generally having a logging signal for timeouts is useful.
-			runtime.HandleError(fmt.Errorf("timeout or abort while handling: %v %q", req.Method, req.URL.Path))
+			runtime.HandleError(fmt.Errorf("timeout or abort while handling: method=%v URI=%q audit-ID=%q", req.Method, req.RequestURI, request.GetAuditIDTruncated(req)))
 			return
 		}
 		http.Error(w, "This request caused apiserver to panic. Look in the logs for details.", http.StatusInternalServerError)
-		klog.Errorf("apiserver panic'd on %v %v", req.Method, req.RequestURI)
+		klog.ErrorS(nil, "apiserver panic'd", "method", req.Method, "URI", req.RequestURI, "audit-ID", request.GetAuditIDTruncated(req))
 	})
 }
 
diff --git a/staging/src/k8s.io/apiserver/pkg/server/httplog/httplog.go b/staging/src/k8s.io/apiserver/pkg/server/httplog/httplog.go
index 4cb5306672b..af205fade6c 100644
--- a/staging/src/k8s.io/apiserver/pkg/server/httplog/httplog.go
+++ b/staging/src/k8s.io/apiserver/pkg/server/httplog/httplog.go
@@ -25,6 +25,7 @@ import (
 	"runtime"
 	"time"
 
+	"k8s.io/apiserver/pkg/endpoints/request"
 	"k8s.io/klog/v2"
 )
 
@@ -157,12 +158,14 @@ func (rl *respLogger) Addf(format string, data ...interface{}) {
 
 func (rl *respLogger) LogArgs() []interface{} {
 	latency := time.Since(rl.startTime)
+	auditID := request.GetAuditIDTruncated(rl.req)
 	if rl.hijacked {
 		return []interface{}{
 			"verb", rl.req.Method,
 			"URI", rl.req.RequestURI,
 			"latency", latency,
 			"userAgent", rl.req.UserAgent(),
+			"audit-ID", auditID,
 			"srcIP", rl.req.RemoteAddr,
 			"hijacked", true,
 		}
@@ -172,6 +175,7 @@ func (rl *respLogger) LogArgs() []interface{} {
 		"URI", rl.req.RequestURI,
 		"latency", latency,
 		"userAgent", rl.req.UserAgent(),
+		"audit-ID", auditID,
 		"srcIP", rl.req.RemoteAddr,
 		"resp", rl.status,
 	}
diff --git a/staging/src/k8s.io/kube-aggregator/pkg/apiserver/handler_proxy.go b/staging/src/k8s.io/kube-aggregator/pkg/apiserver/handler_proxy.go
index e09f0d1a238..0c7588ab17c 100644
--- a/staging/src/k8s.io/kube-aggregator/pkg/apiserver/handler_proxy.go
+++ b/staging/src/k8s.io/kube-aggregator/pkg/apiserver/handler_proxy.go
@@ -29,6 +29,7 @@ import (
 	"k8s.io/apimachinery/pkg/util/httpstream/spdy"
 	utilnet "k8s.io/apimachinery/pkg/util/net"
 	"k8s.io/apimachinery/pkg/util/proxy"
+	auditinternal "k8s.io/apiserver/pkg/apis/audit"
 	"k8s.io/apiserver/pkg/endpoints/handlers/responsewriters"
 	endpointmetrics "k8s.io/apiserver/pkg/endpoints/metrics"
 	genericapirequest "k8s.io/apiserver/pkg/endpoints/request"
@@ -201,6 +202,12 @@ func newRequestForProxy(location *url.URL, req *http.Request) (*http.Request, co
 	newReq.URL = location
 	newReq.Host = location.Host
 
+	// If the original request has an audit ID, let's make sure we propagate this
+	// to the aggregated server.
+	if auditID, found := genericapirequest.AuditIDFrom(req.Context()); found {
+		newReq.Header.Set(auditinternal.HeaderAuditID, string(auditID))
+	}
+
 	return newReq, cancelFn
 }
 
diff --git a/staging/src/k8s.io/kube-aggregator/pkg/apiserver/handler_proxy_test.go b/staging/src/k8s.io/kube-aggregator/pkg/apiserver/handler_proxy_test.go
index 95282152b85..30fa28b2308 100644
--- a/staging/src/k8s.io/kube-aggregator/pkg/apiserver/handler_proxy_test.go
+++ b/staging/src/k8s.io/kube-aggregator/pkg/apiserver/handler_proxy_test.go
@@ -36,6 +36,7 @@ import (
 	"golang.org/x/net/websocket"
 
 	metav1 "k8s.io/apimachinery/pkg/apis/meta/v1"
+	"k8s.io/apimachinery/pkg/types"
 	"k8s.io/apimachinery/pkg/util/proxy"
 	"k8s.io/apimachinery/pkg/util/sets"
 	"k8s.io/apiserver/pkg/authentication/user"
@@ -577,6 +578,46 @@ func TestGetContextForNewRequest(t *testing.T) {
 
 }
 
+func TestNewRequestForProxyWithAuditID(t *testing.T) {
+	tests := []struct {
+		name    string
+		auditID string
+	}{
+		{
+			name:    "original request has Audit-ID",
+			auditID: "foo-bar",
+		},
+		{
+			name:    "original request does not have Audit-ID",
+			auditID: "",
+		},
+	}
+
+	for _, test := range tests {
+		t.Run(test.name, func(t *testing.T) {
+			req, err := http.NewRequest(http.MethodGet, "/api/group/version/foos/namespace/foo", nil)
+			if err != nil {
+				t.Fatalf("failed to create new http request - %v", err)
+			}
+
+			req = req.WithContext(genericapirequest.WithRequestInfo(req.Context(), &genericapirequest.RequestInfo{Path: req.URL.Path}))
+			if len(test.auditID) > 0 {
+				req = req.WithContext(genericapirequest.WithAuditID(req.Context(), types.UID(test.auditID)))
+			}
+
+			newReq, _ := newRequestForProxy(req.URL, req)
+			if newReq == nil {
+				t.Fatal("expected a non nil Request object")
+			}
+
+			auditIDGot := newReq.Header.Get("Audit-ID")
+			if test.auditID != auditIDGot {
+				t.Errorf("expected an Audit-ID value: %q, but got: %q", test.auditID, auditIDGot)
+			}
+		})
+	}
+}
+
 // TestProxyCertReload verifies that the proxy reloading of certificates work
 // to be able to test the reloading it starts a server with client auth enabled
 // it first uses certs that does not match the client CA so the verification fails - expecting HTTP 503