diff --git a/rclpy/rclpy/node.py b/rclpy/rclpy/node.py
index c95115e0c..5a693e078 100644
--- a/rclpy/rclpy/node.py
+++ b/rclpy/rclpy/node.py
@@ -34,6 +34,7 @@
 from rcl_interfaces.msg import ParameterEvent
 from rcl_interfaces.msg import ParameterValue
 from rcl_interfaces.msg import SetParametersResult
+
 from rclpy.callback_groups import CallbackGroup
 from rclpy.callback_groups import MutuallyExclusiveCallbackGroup
 from rclpy.client import Client
@@ -83,6 +84,10 @@
 SrvTypeRequest = TypeVar('SrvTypeRequest')
 SrvTypeResponse = TypeVar('SrvTypeResponse')
 
+# Re-export exception defined in _rclpy C extension.
+# `Node.get_*_names_and_types_by_node` methods may raise this error.
+NodeNameNonExistentError = _rclpy.NodeNameNonExistentError
+
 
 class Node:
 
@@ -1463,6 +1468,8 @@ def get_publisher_names_and_types_by_node(
         :return: List of tuples.
           The first element of each tuple is the topic name and the second element is a list of
           topic types.
+        :raise NodeNameNonExistentError: If the node wasn't found.
+        :raise RuntimeError: Unexpected failure.
         """
         with self.handle as capsule:
             return _rclpy.rclpy_get_publisher_names_and_types_by_node(
@@ -1483,6 +1490,8 @@ def get_subscriber_names_and_types_by_node(
         :return: List of tuples.
           The first element of each tuple is the topic name and the second element is a list of
           topic types.
+        :raise NodeNameNonExistentError: If the node wasn't found.
+        :raise RuntimeError: Unexpected failure.
         """
         with self.handle as capsule:
             return _rclpy.rclpy_get_subscriber_names_and_types_by_node(
@@ -1501,6 +1510,8 @@ def get_service_names_and_types_by_node(
         :return: List of tuples.
           The first element of each tuple is the service server name
           and the second element is a list of service types.
+        :raise NodeNameNonExistentError: If the node wasn't found.
+        :raise RuntimeError: Unexpected failure.
         """
         with self.handle as capsule:
             return _rclpy.rclpy_get_service_names_and_types_by_node(
@@ -1519,6 +1530,8 @@ def get_client_names_and_types_by_node(
         :return: List of tuples.
           The fist element of each tuple is the service client name
           and the second element is a list of service client types.
+        :raise NodeNameNonExistentError: If the node wasn't found.
+        :raise RuntimeError: Unexpected failure.
         """
         with self.handle as capsule:
             return _rclpy.rclpy_get_client_names_and_types_by_node(
diff --git a/rclpy/src/rclpy/_rclpy.c b/rclpy/src/rclpy/_rclpy.c
index dca227364..d096bd8de 100644
--- a/rclpy/src/rclpy/_rclpy.c
+++ b/rclpy/src/rclpy/_rclpy.c
@@ -41,6 +41,7 @@
 
 static PyObject * RCLInvalidROSArgsError;
 static PyObject * UnknownROSArgsError;
+static PyObject * NodeNameNonExistentError;
 
 void
 _rclpy_context_capsule_destructor(PyObject * capsule)
@@ -3213,10 +3214,13 @@ rclpy_get_service_names_and_types_by_node(PyObject * Py_UNUSED(self), PyObject *
     rcl_get_service_names_and_types_by_node(node, &allocator, node_name, node_namespace,
       &service_names_and_types);
   if (ret != RCL_RET_OK) {
-    PyErr_Format(PyExc_RuntimeError,
+    PyObject * error = PyExc_RuntimeError;
+    if (ret == RCL_RET_NODE_NAME_NON_EXISTENT) {
+      error = NodeNameNonExistentError;
+    }
+    PyErr_Format(error,
       "Failed to get_service_names_and_types: %s", rcl_get_error_string().str);
     rcl_reset_error();
-    rclpy_names_and_types_fini(&service_names_and_types);
     return NULL;
   }
 
@@ -3262,10 +3266,13 @@ rclpy_get_client_names_and_types_by_node(PyObject * Py_UNUSED(self), PyObject *
     rcl_get_client_names_and_types_by_node(node, &allocator, node_name, node_namespace,
       &client_names_and_types);
   if (ret != RCL_RET_OK) {
-    PyErr_Format(PyExc_RuntimeError,
+    PyObject * error = PyExc_RuntimeError;
+    if (ret == RCL_RET_NODE_NAME_NON_EXISTENT) {
+      error = NodeNameNonExistentError;
+    }
+    PyErr_Format(error,
       "Failed to get_client_names_and_types: %s", rcl_get_error_string().str);
     rcl_reset_error();
-    rclpy_names_and_types_fini(&client_names_and_types);
     return NULL;
   }
 
@@ -3313,7 +3320,11 @@ rclpy_get_subscriber_names_and_types_by_node(PyObject * Py_UNUSED(self), PyObjec
     rcl_get_subscriber_names_and_types_by_node(node, &allocator, no_demangle, node_name,
       node_namespace, &topic_names_and_types);
   if (ret != RCL_RET_OK) {
-    PyErr_Format(PyExc_RuntimeError,
+    PyObject * error = PyExc_RuntimeError;
+    if (ret == RCL_RET_NODE_NAME_NON_EXISTENT) {
+      error = NodeNameNonExistentError;
+    }
+    PyErr_Format(error,
       "Failed to get_subscriber_names_and_types: %s", rcl_get_error_string().str);
     rcl_reset_error();
     return NULL;
@@ -3362,7 +3373,11 @@ rclpy_get_publisher_names_and_types_by_node(PyObject * Py_UNUSED(self), PyObject
     rcl_get_publisher_names_and_types_by_node(node, &allocator, no_demangle, node_name,
       node_namespace, &topic_names_and_types);
   if (ret != RCL_RET_OK) {
-    PyErr_Format(PyExc_RuntimeError,
+    PyObject * error = PyExc_RuntimeError;
+    if (ret == RCL_RET_NODE_NAME_NON_EXISTENT) {
+      error = NodeNameNonExistentError;
+    }
+    PyErr_Format(error,
       "Failed to get_publisher_names_and_types: %s", rcl_get_error_string().str);
     rcl_reset_error();
     return NULL;
@@ -5081,6 +5096,15 @@ PyMODINIT_FUNC PyInit__rclpy(void)
     return NULL;
   }
 
+  NodeNameNonExistentError = PyErr_NewExceptionWithDoc(
+    "_rclpy.NodeNameNonExistentError",
+    "Thrown when a node name is not found.",
+    PyExc_RuntimeError, NULL);
+  if (PyModule_AddObject(m, "NodeNameNonExistentError", NodeNameNonExistentError)) {
+    Py_DECREF(m);
+    return NULL;
+  }
+
   if (PyErr_Occurred()) {
     Py_DECREF(m);
     return NULL;