diff --git a/moto/s3/exceptions.py b/moto/s3/exceptions.py
index dfea0dec6..7f12ae885 100644
--- a/moto/s3/exceptions.py
+++ b/moto/s3/exceptions.py
@@ -584,3 +584,23 @@ class HeadOnDeleteMarker(Exception):
 
     def __init__(self, marker: "FakeDeleteMarker"):
         self.marker = marker
+
+
+class DaysMustNotProvidedForSelectRequest(S3ClientError):
+    code = 400
+
+    def __init__(self) -> None:
+        super().__init__(
+            "DaysMustNotProvidedForSelectRequest",
+            "`Days` must not be provided for select requests",
+        )
+
+
+class DaysMustProvidedExceptForSelectRequest(S3ClientError):
+    code = 400
+
+    def __init__(self) -> None:
+        super().__init__(
+            "DaysMustProvidedExceptForSelectRequest",
+            "`Days` must be provided except for select requests",
+        )
diff --git a/moto/s3/models.py b/moto/s3/models.py
index b96a1581c..7f3722a6d 100644
--- a/moto/s3/models.py
+++ b/moto/s3/models.py
@@ -37,6 +37,8 @@ from moto.s3.exceptions import (
     BucketNeedsToBeNew,
     CopyObjectMustChangeSomething,
     CrossLocationLoggingProhibitted,
+    DaysMustNotProvidedForSelectRequest,
+    DaysMustProvidedExceptForSelectRequest,
     EntityTooSmall,
     HeadOnDeleteMarker,
     InvalidBucketName,
@@ -2882,14 +2884,24 @@ class S3Backend(BaseBackend, CloudWatchMetricProvider):
             for x in query_result
         ]
 
-    def restore_object(self, bucket_name: str, key_name: str, days: str) -> bool:
+    def restore_object(
+        self, bucket_name: str, key_name: str, days: Optional[str], type_: Optional[str]
+    ) -> bool:
         key = self.get_object(bucket_name, key_name)
         if not key:
             raise MissingKey
+
+        if days is None and type_ is None:
+            raise DaysMustProvidedExceptForSelectRequest()
+
+        if days and type_:
+            raise DaysMustNotProvidedForSelectRequest()
+
         if key.storage_class not in ARCHIVE_STORAGE_CLASSES:
             raise InvalidObjectState(storage_class=key.storage_class)
         had_expiry_date = key.expiry_date is not None
-        key.restore(int(days))
+        if days:
+            key.restore(int(days))
         return had_expiry_date
 
     def upload_file(self) -> None:
diff --git a/moto/s3/responses.py b/moto/s3/responses.py
index a737f74df..7e72a1c15 100644
--- a/moto/s3/responses.py
+++ b/moto/s3/responses.py
@@ -2272,10 +2272,12 @@ class S3Response(BaseResponse):
             )
 
         elif "restore" in query:
-            es = minidom.parseString(body).getElementsByTagName("Days")
-            days = es[0].childNodes[0].wholeText
+            params = xmltodict.parse(body)["RestoreRequest"]
             previously_restored = self.backend.restore_object(
-                bucket_name, key_name, days
+                bucket_name,
+                key_name,
+                params.get("Days", None),
+                params.get("Type", None),
             )
             status_code = 200 if previously_restored else 202
             return status_code, {}, ""
diff --git a/tests/test_s3/test_s3.py b/tests/test_s3/test_s3.py
index cbb5c1d16..7fb2664ab 100644
--- a/tests/test_s3/test_s3.py
+++ b/tests/test_s3/test_s3.py
@@ -627,6 +627,32 @@ def test_cannot_restore_standard_class_object():
     )
 
 
+@mock_aws
+def test_restore_object_invalid_request_params():
+    if not settings.TEST_DECORATOR_MODE:
+        raise SkipTest("Can't set transition directly in ServerMode")
+
+    s3_resource = boto3.resource("s3", region_name=DEFAULT_REGION_NAME)
+    bucket = s3_resource.Bucket("foobar")
+    bucket.create()
+
+    key = bucket.put_object(Key="the-key", Body=b"somedata", StorageClass="GLACIER")
+
+    # `Days` must be provided except for select requests
+    with pytest.raises(ClientError) as exc:
+        key.restore_object(RestoreRequest={})
+    err = exc.value.response["Error"]
+    assert err["Code"] == "DaysMustProvidedExceptForSelectRequest"
+    assert err["Message"] == "`Days` must be provided except for select requests"
+
+    # `Days` must not be provided for select requests
+    with pytest.raises(ClientError) as exc:
+        key.restore_object(RestoreRequest={"Days": 1, "Type": "SELECT"})
+    err = exc.value.response["Error"]
+    assert err["Code"] == "DaysMustNotProvidedForSelectRequest"
+    assert err["Message"] == "`Days` must not be provided for select requests"
+
+
 @mock_aws
 def test_get_versioning_status():
     s3_resource = boto3.resource("s3", region_name=DEFAULT_REGION_NAME)