diff --git a/doc/api/util.md b/doc/api/util.md
index e071f1120bf74e..90a0038c66d65e 100644
--- a/doc/api/util.md
+++ b/doc/api/util.md
@@ -520,6 +520,24 @@ util.inspect(new Bar()); // 'Bar {}'
 util.inspect(baz);       // '[foo] {}'
 ```
 
+Circular references are marked as `'[Circular]'`:
+
+```js
+const { inspect } = require('util');
+
+const obj = {};
+obj.a = [obj];
+obj.b = {};
+obj.b.inner = obj.b;
+obj.b.obj = obj;
+
+console.log(inspect(obj));
+// {
+//   a: [ [Circular] ],
+//   b: { inner: [Circular], obj: [Circular] }
+// }
+```
+
 The following example inspects all properties of the `util` object:
 
 ```js
@@ -543,8 +561,6 @@ const o = {
 };
 console.log(util.inspect(o, { compact: true, depth: 5, breakLength: 80 }));
 
-// This will print
-
 // { a:
 //   [ 1,
 //     2,
diff --git a/lib/internal/util/inspect.js b/lib/internal/util/inspect.js
index 7ad94600b7b771..f63fafd01f89e0 100644
--- a/lib/internal/util/inspect.js
+++ b/lib/internal/util/inspect.js
@@ -574,8 +574,19 @@ function formatValue(ctx, value, recurseTimes, typedArray) {
 
   // Using an array here is actually better for the average case than using
   // a Set. `seen` will only check for the depth and will never grow too large.
-  if (ctx.seen.includes(value))
+  if (ctx.seen.includes(value)) {
+    let index = 1;
+    if (ctx.circular === undefined) {
+      ctx.circular = new Map([[value, index]]);
+    } else {
+      index = ctx.circular.get(value);
+      if (index === undefined) {
+        index = ctx.circular.size + 1;
+        ctx.circular.set(value, index);
+      }
+    }
     return ctx.stylize('[Circular]', 'special');
+  }
 
   return formatRaw(ctx, value, recurseTimes, typedArray);
 }
@@ -777,6 +788,17 @@ function formatRaw(ctx, value, recurseTimes, typedArray) {
     const constructorName = getCtxStyle(value, constructor, tag).slice(0, -1);
     return handleMaxCallStackSize(ctx, err, constructorName, indentationLvl);
   }
+  if (ctx.circular !== undefined) {
+    const index = ctx.circular.get(value);
+    if (index !== undefined) {
+      // Add reference always to the very beginning of the output.
+      if (ctx.compact !== true) {
+        base = base === '' ? '' : `${base}`;
+      } else {
+        braces[0] = `${braces[0]}`;
+      }
+    }
+  }
   ctx.seen.pop();
 
   if (ctx.sorted) {
diff --git a/test/parallel/test-assert.js b/test/parallel/test-assert.js
index 61c8f7becead42..b85fdf2ed79b52 100644
--- a/test/parallel/test-assert.js
+++ b/test/parallel/test-assert.js
@@ -342,7 +342,8 @@ testAssertionMessage(/abc/gim, '/abc/gim');
 testAssertionMessage({}, '{}');
 testAssertionMessage([1, 2, 3], '[\n+   1,\n+   2,\n+   3\n+ ]');
 testAssertionMessage(function f() {}, '[Function: f]');
-testAssertionMessage(circular, '{\n+   x: [Circular],\n+   y: 1\n+ }');
+testAssertionMessage(circular,
+                     '{\n+   x: [Circular],\n+   y: 1\n+ }');
 testAssertionMessage({ a: undefined, b: null },
                      '{\n+   a: undefined,\n+   b: null\n+ }');
 testAssertionMessage({ a: NaN, b: Infinity, c: -Infinity },
diff --git a/test/parallel/test-util-inspect.js b/test/parallel/test-util-inspect.js
index 27179cf51cb1a7..21e9bb08e0d170 100644
--- a/test/parallel/test-util-inspect.js
+++ b/test/parallel/test-util-inspect.js
@@ -1049,12 +1049,29 @@ if (typeof Symbol !== 'undefined') {
 {
   const map = new Map();
   map.set(map, 'map');
-  assert.strictEqual(util.inspect(map), "Map { [Circular] => 'map' }");
+  assert.strictEqual(inspect(map), "Map { [Circular] => 'map' }");
   map.set(map, map);
-  assert.strictEqual(util.inspect(map), 'Map { [Circular] => [Circular] }');
+  assert.strictEqual(
+    inspect(map),
+    'Map { [Circular] => [Circular] }'
+  );
   map.delete(map);
   map.set('map', map);
-  assert.strictEqual(util.inspect(map), "Map { 'map' => [Circular] }");
+  assert.strictEqual(inspect(map), "Map { 'map' => [Circular] }");
+}
+
+// Test multiple circular references.
+{
+  const obj = {};
+  obj.a = [obj];
+  obj.b = {};
+  obj.b.inner = obj.b;
+  obj.b.obj = obj;
+
+  assert.strictEqual(
+    inspect(obj),
+    '{ a: [ [Circular] ], b: { inner: [Circular], obj: [Circular] } }'
+  );
 }
 
 // Test Promise.
@@ -1253,6 +1270,8 @@ if (typeof Symbol !== 'undefined') {
   assert.strictEqual(util.inspect(arr), '[ [ [ [Object] ] ] ]');
   arr[0][0][0] = arr;
   assert.strictEqual(util.inspect(arr), '[ [ [ [Circular] ] ] ]');
+  arr[0][0][0] = arr[0][0];
+  assert.strictEqual(util.inspect(arr), '[ [ [ [Circular] ] ] ]');
 }
 
 // Corner cases.