diff --git a/moto/s3/responses.py b/moto/s3/responses.py
index 2bd3e5c3a..03a0e6150 100644
--- a/moto/s3/responses.py
+++ b/moto/s3/responses.py
@@ -25,6 +25,7 @@ from moto.s3bucket_path.utils import (
 
 from .exceptions import (
     BucketAlreadyExists,
+    BucketAccessDeniedError,
     BucketMustHaveLockeEnabled,
     DuplicateTagKeys,
     InvalidContentMD5,
@@ -954,9 +955,13 @@ class ResponseObject(_TemplateEnvironmentMixin, ActionAuthenticatorMixin):
 
         if self.is_delete_keys(request, path, bucket_name):
             self.data["Action"] = "DeleteObject"
-            self._authenticate_and_authorize_s3_action()
-
-            return self._bucket_response_delete_keys(body, bucket_name)
+            try:
+                self._authenticate_and_authorize_s3_action()
+                return self._bucket_response_delete_keys(body, bucket_name)
+            except BucketAccessDeniedError:
+                return self._bucket_response_delete_keys(
+                    body, bucket_name, authenticated=False
+                )
 
         self.data["Action"] = "PutObject"
         self._authenticate_and_authorize_s3_action()
@@ -1018,7 +1023,7 @@ class ResponseObject(_TemplateEnvironmentMixin, ActionAuthenticatorMixin):
             else path_url(request.url)
         )
 
-    def _bucket_response_delete_keys(self, body, bucket_name):
+    def _bucket_response_delete_keys(self, body, bucket_name, authenticated=True):
         template = self.response_template(S3_DELETE_KEYS_RESPONSE)
         body_dict = xmltodict.parse(body, strip_whitespace=False)
 
@@ -1030,13 +1035,18 @@ class ResponseObject(_TemplateEnvironmentMixin, ActionAuthenticatorMixin):
         if len(objects) == 0:
             raise MalformedXML()
 
-        deleted_objects = self.backend.delete_objects(bucket_name, objects)
-        error_names = []
+        if authenticated:
+            deleted_objects = self.backend.delete_objects(bucket_name, objects)
+            errors = []
+        else:
+            deleted_objects = []
+            # [(key_name, errorcode, 'error message'), ..]
+            errors = [(o["Key"], "AccessDenied", "Access Denied") for o in objects]
 
         return (
             200,
             {},
-            template.render(deleted=deleted_objects, delete_errors=error_names),
+            template.render(deleted=deleted_objects, delete_errors=errors),
         )
 
     def _handle_range_header(self, request, response_headers, response_content):
@@ -2285,9 +2295,11 @@ S3_DELETE_KEYS_RESPONSE = """<?xml version="1.0" encoding="UTF-8"?>
 {% if v %}<VersionId>{{v}}</VersionId>{% endif %}
 </Deleted>
 {% endfor %}
-{% for k in delete_errors %}
+{% for k,c,m in delete_errors %}
 <Error>
 <Key>{{k}}</Key>
+<Code>{{c}}</Code>
+<Message>{{m}}</Message>
 </Error>
 {% endfor %}
 </DeleteResult>"""
diff --git a/tests/test_s3/test_s3_auth.py b/tests/test_s3/test_s3_auth.py
index af6d1cddc..feb22f035 100644
--- a/tests/test_s3/test_s3_auth.py
+++ b/tests/test_s3/test_s3_auth.py
@@ -4,8 +4,8 @@ import pytest
 import sure  # noqa # pylint: disable=unused-import
 
 from botocore.exceptions import ClientError
-from moto import mock_iam, mock_s3, settings
-from moto.core import set_initial_no_auth_action_count
+from moto import mock_iam, mock_s3, mock_sts, settings
+from moto.core import ACCOUNT_ID, set_initial_no_auth_action_count
 from unittest import SkipTest
 
 
@@ -116,3 +116,91 @@ def create_user_with_access_key_and_policy(user_name="test-user"):
 
     # Return the access keys
     return client.create_access_key(UserName=user_name)["AccessKey"]
+
+
+@mock_iam
+@mock_sts
+def create_role_with_attached_policy_and_assume_it(
+    role_name,
+    trust_policy_document,
+    policy_document,
+    session_name="session1",
+    policy_name="policy1",
+):
+    iam_client = boto3.client("iam", region_name="us-east-1")
+    sts_client = boto3.client("sts", region_name="us-east-1")
+    role_arn = iam_client.create_role(
+        RoleName=role_name, AssumeRolePolicyDocument=json.dumps(trust_policy_document)
+    )["Role"]["Arn"]
+    policy_arn = iam_client.create_policy(
+        PolicyName=policy_name, PolicyDocument=json.dumps(policy_document)
+    )["Policy"]["Arn"]
+    iam_client.attach_role_policy(RoleName=role_name, PolicyArn=policy_arn)
+    return sts_client.assume_role(RoleArn=role_arn, RoleSessionName=session_name)[
+        "Credentials"
+    ]
+
+
+@set_initial_no_auth_action_count(7)
+@mock_iam
+@mock_s3
+@mock_sts
+def test_delete_objects_without_access_throws_custom_error():
+    if settings.TEST_SERVER_MODE:
+        raise SkipTest("Auth decorator does not work in server mode")
+
+    role_name = "some-test-role"
+    bucket_name = "some-test-bucket"
+
+    # Setup Bucket
+    client = boto3.client("s3", region_name="us-east-1")
+    client.create_bucket(Bucket=bucket_name)
+    client.put_object(Bucket=bucket_name, Key="some/prefix/test_file.txt")
+
+    trust_policy_document = {
+        "Version": "2012-10-17",
+        "Statement": {
+            "Effect": "Allow",
+            "Principal": {"AWS": f"arn:aws:iam::{ACCOUNT_ID}:root"},
+            "Action": "sts:AssumeRole",
+        },
+    }
+
+    # Setup User with the correct access
+    policy_document = {
+        "Version": "2012-10-17",
+        "Statement": [
+            {
+                "Effect": "Allow",
+                "Action": ["s3:ListBucket", "s3:GetBucketLocation"],
+                "Resource": f"arn:aws:s3:::{bucket_name}",
+            },
+            {
+                "Effect": "Allow",
+                "Action": ["s3:PutObject", "s3:GetObject"],
+                "Resource": f"arn:aws:s3:::{bucket_name}/*",
+            },
+        ],
+    }
+    credentials = create_role_with_attached_policy_and_assume_it(
+        role_name, trust_policy_document, policy_document
+    )
+
+    session = boto3.session.Session(region_name="us-east-1")
+    s3_resource = session.resource(
+        "s3",
+        aws_access_key_id=credentials["AccessKeyId"],
+        aws_secret_access_key=credentials["SecretAccessKey"],
+        aws_session_token=credentials["SessionToken"],
+    )
+    bucket = s3_resource.Bucket(bucket_name)
+
+    # This action is not allowed
+    # It should return a 200-response, with the body indicating that we do not have access
+    response = bucket.objects.filter(Prefix="some/prefix").delete()[0]
+    response.should.have.key("Errors").length_of(1)
+
+    error = response["Errors"][0]
+    error.should.have.key("Key").equals("some/prefix/test_file.txt")
+    error.should.have.key("Code").equals("AccessDenied")
+    error.should.have.key("Message").equals("Access Denied")