diff --git a/lib/internal/util/inspect.js b/lib/internal/util/inspect.js
index 1a029c7cf761..8e0b6eeed5f0 100644
--- a/lib/internal/util/inspect.js
+++ b/lib/internal/util/inspect.js
@@ -286,7 +286,17 @@ const meta = [
 // License: MIT by Sindre Sorhus <sindresorhus@gmail.com>
 // Matches all ansi escape code sequences in a string
 const ansi = new RegExp(
+  // Sequences that run until a string terminator, such as OSC 8 hyperlinks.
   '(?:\\u001B\\][\\s\\S]*?(?:\\u0007|\\u001B\\u005C|\\u009C))' +
+  // Control sequences, using the structure ECMA-48 5.4 defines: CSI, then any
+  // number of parameter bytes (0x30-0x3F), then any number of intermediate
+  // bytes (0x20-0x2F), then a single final byte (0x40-0x7E). The list of final
+  // bytes below covers neither parameter bytes such as `<`, used by mouse
+  // reports, nor final bytes such as `@`, so it stops in the middle of the
+  // sequence and leaves the rest in the output.
+  '|(?:\\u001B\\[|\\u009B)[\\u0030-\\u003F]*[\\u0020-\\u002F]*[\\u0040-\\u007E]' +
+  // Everything else the reference implementation matched, including sequences
+  // whose last byte is a digit, such as `ESC 7`.
   '|[\\u001B\\u009B][[\\]()#;?]*' +
   '(?:\\d{1,4}(?:[;:]\\d{0,4})*)?' +
   '[\\dA-PR-TZcf-nq-uy=><~]', 'g',
diff --git a/test/parallel/test-util-stripvtcontrolcharacters.js b/test/parallel/test-util-stripvtcontrolcharacters.js
index efda16687821..022776362641 100644
--- a/test/parallel/test-util-stripvtcontrolcharacters.js
+++ b/test/parallel/test-util-stripvtcontrolcharacters.js
@@ -37,6 +37,27 @@ tests.push(
   ['\u001B[4:3mUnderline\u001B[4:0m', 'Underline'],
 );
 
+// Ref: ECMA-48 5.4. A control sequence is CSI, then any number of parameter
+// bytes (0x30-0x3F), then any number of intermediate bytes (0x20-0x2F), then a
+// single final byte (0x40-0x7E). Every sequence below is well formed and in use
+// by terminals today, and every one of them has its tail left behind today.
+tests.push(
+  // Parameter bytes other than digits, `;` and `:`.
+  ['a\u001B[<35;10;20Mb', 'ab'], // SGR mouse report
+  ['a\u001B[>1;2cb', 'ab'], // Secondary device attributes
+  ['a\u001B[=5hb', 'ab'],
+  ['a\u009B<35;10;20Mb', 'ab'], // Same, with the 8 bit CSI introducer
+  // Final bytes that the reference implementation does not list.
+  ['a\u001B[3@b', 'ab'], // ICH, insert character
+  ['a\u001B[3Xb', 'ab'], // ECH, erase character
+  ['a\u001B[5db', 'ab'], // VPA, line position absolute
+  ['a\u001B[3bb', 'ab'], // REP, repeat preceding character
+  ['a\u001B[2ab', 'ab'], // HPR, character position forward
+  // Intermediate bytes.
+  ['a\u001B[2 qb', 'ab'], // DECSCUSR, set cursor style
+  ['a\u001B[!pb', 'ab'], // DECSTR, soft terminal reset
+);
+
 // Unterminated OSC does not match the OSC alternative; the CSI alternative may
 // still consume a short prefix (here ESC ] 8 ;; h), leaving the remainder.
 tests.push(