diff --git a/sql/core/src/main/scala/org/apache/spark/sql/DataFrameWriter.scala b/sql/core/src/main/scala/org/apache/spark/sql/DataFrameWriter.scala
index f90d3532995f3..b724e87776f87 100644
--- a/sql/core/src/main/scala/org/apache/spark/sql/DataFrameWriter.scala
+++ b/sql/core/src/main/scala/org/apache/spark/sql/DataFrameWriter.scala
@@ -677,7 +677,7 @@ final class DataFrameWriter[T] private[sql](ds: Dataset[T]) {
       val end = System.nanoTime()
       session.listenerManager.onSuccess(name, qe, end - start)
     } catch {
-      case e: Exception =>
+      case e: Throwable =>
         session.listenerManager.onFailure(name, qe, e)
         throw e
     }
diff --git a/sql/core/src/main/scala/org/apache/spark/sql/Dataset.scala b/sql/core/src/main/scala/org/apache/spark/sql/Dataset.scala
index c90b2e857e664..6bc0d0bfaa3f4 100644
--- a/sql/core/src/main/scala/org/apache/spark/sql/Dataset.scala
+++ b/sql/core/src/main/scala/org/apache/spark/sql/Dataset.scala
@@ -3373,7 +3373,7 @@ class Dataset[T] private[sql](
       sparkSession.listenerManager.onSuccess(name, qe, end - start)
       result
     } catch {
-      case e: Exception =>
+      case e: Throwable =>
         sparkSession.listenerManager.onFailure(name, qe, e)
         throw e
     }
diff --git a/sql/core/src/main/scala/org/apache/spark/sql/util/QueryExecutionListener.scala b/sql/core/src/main/scala/org/apache/spark/sql/util/QueryExecutionListener.scala
index abfc6773e361f..4d51f2751d01d 100644
--- a/sql/core/src/main/scala/org/apache/spark/sql/util/QueryExecutionListener.scala
+++ b/sql/core/src/main/scala/org/apache/spark/sql/util/QueryExecutionListener.scala
@@ -25,7 +25,7 @@ import scala.util.control.NonFatal
 import org.apache.spark.SparkConf
 import org.apache.spark.annotation.{DeveloperApi, Experimental, InterfaceStability}
 import org.apache.spark.internal.Logging
-import org.apache.spark.sql.execution.QueryExecution
+import org.apache.spark.sql.execution.{QueryExecution, QueryExecutionException}
 import org.apache.spark.sql.internal.StaticSQLConf._
 import org.apache.spark.util.Utils
 
@@ -59,7 +59,9 @@ trait QueryExecutionListener {
    * @param funcName the name of the action that triggered this query.
    * @param qe the QueryExecution object that carries detail information like logical plan,
    *           physical plan, etc.
-   * @param exception the exception that failed this query.
+   * @param exception the exception that failed this query. If `java.lang.Error` is thrown during
+   *                  execution, it will be wrapped with an `Exception` and it can be accessed by
+   *                  `exception.getCause`.
    *
    * @note This can be invoked by multiple different threads.
    */
@@ -129,7 +131,14 @@ class ExecutionListenerManager private extends Logging {
     }
   }
 
-  private[sql] def onFailure(funcName: String, qe: QueryExecution, exception: Exception): Unit = {
+  private[sql] def onFailure(funcName: String, qe: QueryExecution, t: Throwable): Unit = {
+    val exception = t match {
+      case e: Exception => e
+      case other: Throwable =>
+        val message = "Hit an error when executing a query" +
+          (if (other.getMessage == null) "" else s": ${other.getMessage}")
+        new QueryExecutionException(message, other)
+    }
     readLock {
       withErrorHandling { listener =>
         listener.onFailure(funcName, qe, exception)
diff --git a/sql/core/src/test/scala/org/apache/spark/sql/util/DataFrameCallbackSuite.scala b/sql/core/src/test/scala/org/apache/spark/sql/util/DataFrameCallbackSuite.scala
index a239e39d9c5a3..8e7274ac7456e 100644
--- a/sql/core/src/test/scala/org/apache/spark/sql/util/DataFrameCallbackSuite.scala
+++ b/sql/core/src/test/scala/org/apache/spark/sql/util/DataFrameCallbackSuite.scala
@@ -20,13 +20,16 @@ package org.apache.spark.sql.util
 import scala.collection.mutable.ArrayBuffer
 
 import org.apache.spark._
-import org.apache.spark.sql.{functions, AnalysisException, QueryTest}
+import org.apache.spark.sql.{functions, AnalysisException, Dataset, QueryTest, Row, SparkSession}
 import org.apache.spark.sql.catalyst.analysis.UnresolvedRelation
+import org.apache.spark.sql.catalyst.expressions.{Attribute, AttributeReference}
 import org.apache.spark.sql.catalyst.plans.logical.{Aggregate, InsertIntoTable, LogicalPlan, Project}
-import org.apache.spark.sql.execution.{QueryExecution, WholeStageCodegenExec}
+import org.apache.spark.sql.execution.{QueryExecution, QueryExecutionException, WholeStageCodegenExec}
+import org.apache.spark.sql.execution.command.RunnableCommand
 import org.apache.spark.sql.execution.datasources.{CreateTable, InsertIntoHadoopFsRelationCommand}
 import org.apache.spark.sql.execution.datasources.json.JsonFileFormat
 import org.apache.spark.sql.test.SharedSQLContext
+import org.apache.spark.sql.types.StringType
 
 class DataFrameCallbackSuite extends QueryTest with SharedSQLContext {
   import testImplicits._
@@ -213,4 +216,31 @@ class DataFrameCallbackSuite extends QueryTest with SharedSQLContext {
       assert(exceptions.head._2 == e)
     }
   }
+
+  testQuietly("SPARK-31144: QueryExecutionListener should receive `java.lang.Error`") {
+    var e: Exception = null
+    val listener = new QueryExecutionListener {
+      override def onFailure(funcName: String, qe: QueryExecution, exception: Exception): Unit = {
+        e = exception
+      }
+      override def onSuccess(funcName: String, qe: QueryExecution, duration: Long): Unit = {}
+    }
+    spark.listenerManager.register(listener)
+
+    intercept[Error] {
+      Dataset.ofRows(spark, ErrorTestCommand("foo")).collect()
+    }
+    assert(e != null && e.isInstanceOf[QueryExecutionException]
+      && e.getCause.isInstanceOf[Error] && e.getCause.getMessage == "foo")
+    spark.listenerManager.unregister(listener)
+  }
+}
+
+/** A test command that throws `java.lang.Error` during execution. */
+case class ErrorTestCommand(foo: String) extends RunnableCommand {
+
+  override val output: Seq[Attribute] = Seq(AttributeReference("foo", StringType)())
+
+  override def run(sparkSession: SparkSession): Seq[Row] =
+    throw new java.lang.Error(foo)
 }