diff --git a/src/arrayvec.rs b/src/arrayvec.rs
index e5ea52d..68ea8ed 100644
--- a/src/arrayvec.rs
+++ b/src/arrayvec.rs
@@ -21,7 +21,7 @@ use std::mem::MaybeUninit;
 use serde::{Serialize, Deserialize, Serializer, Deserializer};
 
 use crate::LenUint;
-use crate::errors::CapacityError;
+use crate::errors::{CapacityError, UnderfilledError};
 use crate::arrayvec_impl::ArrayVecImpl;
 use crate::utils::MakeMaybeUninit;
 
@@ -687,11 +687,15 @@ impl<T, const CAP: usize> ArrayVec<T, CAP> {
 
     /// Return the inner fixed size array, if it is full to its capacity.
     ///
-    /// Return an `Ok` value with the array if length equals capacity,
-    /// return an `Err` with self otherwise.
-    pub fn into_inner(self) -> Result<[T; CAP], Self> {
+    /// # Errors
+    ///
+    /// This method will return an error if the array is not filled to its
+    /// capacity (see [`capacity`]).
+    /// 
+    /// [`capacity`]: #method.capacity
+    pub fn into_inner(self) -> Result<[T; CAP], UnderfilledError<T, CAP>> {
         if self.len() < self.capacity() {
-            Err(self)
+            Err(UnderfilledError::new(self))
         } else {
             unsafe { Ok(self.into_inner_unchecked()) }
         }
diff --git a/src/errors.rs b/src/errors.rs
index 7ca3ebc..6cffaaa 100644
--- a/src/errors.rs
+++ b/src/errors.rs
@@ -4,6 +4,8 @@ use std::any::Any;
 #[cfg(feature="std")]
 use std::error::Error;
 
+use crate::ArrayVec;
+
 /// Error value indicating insufficient capacity
 #[derive(Clone, Copy, Eq, Ord, PartialEq, PartialOrd)]
 pub struct CapacityError<T = ()> {
@@ -47,3 +49,41 @@ impl<T> fmt::Debug for CapacityError<T> {
     }
 }
 
+/// Error value indicating that capacity is not completely filled
+#[derive(Clone, Eq, Ord, PartialEq, PartialOrd)]
+pub struct UnderfilledError<T, const CAP: usize>(ArrayVec<T, CAP>);
+
+impl<T, const CAP: usize> UnderfilledError<T, CAP> {
+    pub const fn new(inner: ArrayVec<T, CAP>) -> Self {
+        Self(inner)
+    }
+
+    pub fn take_vec(self) -> ArrayVec<T, CAP> {
+        self.0
+    }
+}
+
+impl<T, const CAP: usize> fmt::Debug for UnderfilledError<T, CAP> {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        write!(
+            f,
+            "UnderfilledError: capacity is not filled: expected {}, got {}",
+            CAP,
+            self.0.len()
+        )
+    }
+}
+
+#[cfg(feature="std")]
+impl<T, const CAP: usize> Error for UnderfilledError<T, CAP> {}
+
+impl<T, const CAP: usize> fmt::Display for UnderfilledError<T, CAP> {
+    fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
+        write!(
+            f,
+            "capacity is not filled: expected {}, got {}",
+            CAP,
+            self.0.len()
+        )
+    }
+}
\ No newline at end of file
diff --git a/src/lib.rs b/src/lib.rs
index 5c4bcee..8aba9c2 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -65,6 +65,6 @@ mod errors;
 mod utils;
 
 pub use crate::array_string::ArrayString;
-pub use crate::errors::CapacityError;
+pub use crate::errors::{CapacityError, UnderfilledError};
 
 pub use crate::arrayvec::{ArrayVec, IntoIter, Drain};
diff --git a/tests/tests.rs b/tests/tests.rs
index ff779ba..4cd1326 100644
--- a/tests/tests.rs
+++ b/tests/tests.rs
@@ -3,6 +3,7 @@ extern crate arrayvec;
 
 use arrayvec::ArrayVec;
 use arrayvec::ArrayString;
+use arrayvec::UnderfilledError;
 use std::mem;
 use arrayvec::CapacityError;
 
@@ -456,7 +457,7 @@ fn test_into_inner_1() {
     let mut v = ArrayVec::from([1, 2]);
     v.pop();
     let u = v.clone();
-    assert_eq!(v.into_inner(), Err(u));
+    assert_eq!(v.into_inner(), Err(UnderfilledError::new(u)));
 }
 
 #[test]