diff --git a/rest_framework/relations.py b/rest_framework/relations.py
index 3a966c5bf..bcfd94041 100644
--- a/rest_framework/relations.py
+++ b/rest_framework/relations.py
@@ -267,7 +267,9 @@ class HyperlinkedRelatedField(RelatedField):
                 'Could not resolve URL for hyperlinked relationship using '
                 'view name "%s". You may have failed to include the related '
                 'model in your API, or incorrectly configured the '
-                '`lookup_field` attribute on this field.'
+                '`lookup_field` attribute on this field, or perhaps your'
+                'data contains an empty value for the `lookup_field` you'
+                'specified.'
             )
             raise ImproperlyConfigured(msg % self.view_name)