diff --git a/perception/autoware_tensorrt_common/src/tensorrt_common.cpp b/perception/autoware_tensorrt_common/src/tensorrt_common.cpp
index ba422277416ab..c3297e9738553 100644
--- a/perception/autoware_tensorrt_common/src/tensorrt_common.cpp
+++ b/perception/autoware_tensorrt_common/src/tensorrt_common.cpp
@@ -36,6 +36,45 @@ namespace autoware
 namespace tensorrt_common
 {
 
+class TrtErrorRecorder : public nvinfer1::IErrorRecorder
+{
+public:
+  struct Error
+  {
+    nvinfer1::ErrorCode code;
+    std::string desc;
+  };
+  const std::vector<Error> & getErrors() const noexcept { return errors_; }
+
+private:
+  RefCount incRefCount() noexcept override { return ++ref_count_; }
+
+  RefCount decRefCount() noexcept override { return --ref_count_; }
+
+  int32_t getNbErrors() const noexcept override { return static_cast<int32_t>(errors_.size()); }
+
+  nvinfer1::ErrorCode getErrorCode(int32_t errorIdx) const noexcept override
+  {
+    return errors_[errorIdx].code;
+  }
+
+  ErrorDesc getErrorDesc(int32_t errorIdx) const noexcept override
+  {
+    return errors_[errorIdx].desc.c_str();
+  }
+
+  bool hasOverflowed() const noexcept override { return false; }
+  bool reportError(nvinfer1::ErrorCode val, ErrorDesc desc) noexcept override
+  {
+    errors_.push_back({val, std::string(desc)});
+    return false;
+  }
+  void clear() noexcept override { errors_.clear(); }
+
+  std::vector<Error> errors_;
+  std::atomic<nvinfer1::IErrorRecorder::RefCount> ref_count_{0};
+};
+
 TrtCommon::TrtCommon(
   const TrtCommonConfig & trt_config, const std::shared_ptr<Profiler> & profiler,
   const std::vector<std::string> & plugin_paths)
@@ -543,6 +582,19 @@ bool TrtCommon::buildEngineFromOnnx()
   return true;
 }
 
+auto setup_error_recorder(TrtUniquePtr<nvinfer1::IRuntime> & runtime)
+{
+  auto errorRecorder = std::make_unique<TrtErrorRecorder>();
+  runtime->setErrorRecorder(errorRecorder.get());
+  return std::make_pair(std::move(errorRecorder), runtime->getErrorRecorder());
+}
+
+void restore_default_recorder(
+  TrtUniquePtr<nvinfer1::IRuntime> & runtime, nvinfer1::IErrorRecorder * defRecorder)
+{
+  runtime->setErrorRecorder(defRecorder);
+}
+
 bool TrtCommon::loadEngine()
 {
   std::ifstream engine_file(trt_config_->engine_path);
@@ -550,12 +602,34 @@ bool TrtCommon::loadEngine()
   engine_buffer << engine_file.rdbuf();
   std::string engine_str = engine_buffer.str();
 
+  auto [errorRecorder, defRecorder] = setup_error_recorder(runtime_);
+
   engine_ = TrtUniquePtr<nvinfer1::ICudaEngine>(runtime_->deserializeCudaEngine(
     reinterpret_cast<const void *>(  // NOLINT
       engine_str.data()),
     engine_str.size()));
+
+  restore_default_recorder(runtime_, defRecorder);
+
   if (!engine_) {
-    logger_->log(nvinfer1::ILogger::Severity::kERROR, "Fail to create engine");
+    for (const auto & error : errorRecorder->getErrors()) {
+      auto code = error.code;
+      auto desc = error.desc;
+      logger_->log(
+        nvinfer1::ILogger::Severity::kERROR, "Error code: %d, Description: %s", code, desc.c_str());
+      if (
+        code == nvinfer1::ErrorCode::kUNSPECIFIED_ERROR &&
+        desc.find("Serialization assertion stdVersionRead == kSERIALIZATION_VERSION failed") !=
+          std::string::npos) {
+        fs::remove(trt_config_->engine_path);
+        logger_->log(
+          nvinfer1::ILogger::Severity::kERROR,
+          "Engine file %s removed due to version mismatch. This file will be regenerated, next "
+          "time the node starts.",
+          trt_config_->engine_path.c_str());
+      }
+    }
+    logger_->log(nvinfer1::ILogger::Severity::kERROR, "Failed to create engine");
     return false;
   }