diff --git a/doc/source/reference/general_utility_functions.rst b/doc/source/reference/general_utility_functions.rst
index 993107dc09756..72a84217323ab 100644
--- a/doc/source/reference/general_utility_functions.rst
+++ b/doc/source/reference/general_utility_functions.rst
@@ -38,10 +38,11 @@ Exceptions and warnings
    errors.AccessorRegistrationWarning
    errors.DtypeWarning
    errors.EmptyDataError
-   errors.OutOfBoundsDatetime
+   errors.InvalidIndexError
    errors.MergeError
    errors.NullFrequencyError
    errors.NumbaUtilError
+   errors.OutOfBoundsDatetime
    errors.ParserError
    errors.ParserWarning
    errors.PerformanceWarning
diff --git a/doc/source/whatsnew/v1.1.0.rst b/doc/source/whatsnew/v1.1.0.rst
index e680c2db55a43..87d690ad5fc59 100644
--- a/doc/source/whatsnew/v1.1.0.rst
+++ b/doc/source/whatsnew/v1.1.0.rst
@@ -382,7 +382,7 @@ Other API changes
 - ``loc`` lookups with an object-dtype :class:`Index` and an integer key will now raise ``KeyError`` instead of ``TypeError`` when key is missing (:issue:`31905`)
 - Using a :func:`pandas.api.indexers.BaseIndexer` with ``count``, ``min``, ``max``, ``median``, ``skew``,  ``cov``, ``corr`` will now return correct results for any monotonic :func:`pandas.api.indexers.BaseIndexer` descendant (:issue:`32865`)
 - Added a :func:`pandas.api.indexers.FixedForwardWindowIndexer` class to support forward-looking windows during ``rolling`` operations.
--
+- Added :class:`pandas.errors.InvalidIndexError` (:issue:`34570`).
 
 Backwards incompatible API changes
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
diff --git a/pandas/core/generic.py b/pandas/core/generic.py
index c340460857b9f..dfe20654b4988 100644
--- a/pandas/core/generic.py
+++ b/pandas/core/generic.py
@@ -47,7 +47,7 @@
 from pandas.compat import set_function_name
 from pandas.compat._optional import import_optional_dependency
 from pandas.compat.numpy import function as nv
-from pandas.errors import AbstractMethodError
+from pandas.errors import AbstractMethodError, InvalidIndexError
 from pandas.util._decorators import (
     Appender,
     Substitution,
@@ -90,13 +90,7 @@
 from pandas.core.base import PandasObject, SelectionMixin
 import pandas.core.common as com
 from pandas.core.construction import create_series_with_explicit_dtype
-from pandas.core.indexes.api import (
-    Index,
-    InvalidIndexError,
-    MultiIndex,
-    RangeIndex,
-    ensure_index,
-)
+from pandas.core.indexes.api import Index, MultiIndex, RangeIndex, ensure_index
 from pandas.core.indexes.datetimes import DatetimeIndex
 from pandas.core.indexes.period import Period, PeriodIndex
 import pandas.core.indexing as indexing
diff --git a/pandas/core/groupby/grouper.py b/pandas/core/groupby/grouper.py
index 39892d87bfd69..67003dffb90bb 100644
--- a/pandas/core/groupby/grouper.py
+++ b/pandas/core/groupby/grouper.py
@@ -8,6 +8,7 @@
 import numpy as np
 
 from pandas._typing import FrameOrSeries
+from pandas.errors import InvalidIndexError
 from pandas.util._decorators import cache_readonly
 
 from pandas.core.dtypes.common import (
@@ -26,7 +27,6 @@
 from pandas.core.groupby import ops
 from pandas.core.groupby.categorical import recode_for_groupby, recode_from_groupby
 from pandas.core.indexes.api import CategoricalIndex, Index, MultiIndex
-from pandas.core.indexes.base import InvalidIndexError
 from pandas.core.series import Series
 
 from pandas.io.formats.printing import pprint_thing
diff --git a/pandas/core/index.py b/pandas/core/index.py
index 8cff53d7a8b74..a315b9619b0e7 100644
--- a/pandas/core/index.py
+++ b/pandas/core/index.py
@@ -7,7 +7,6 @@
     Index,
     Int64Index,
     IntervalIndex,
-    InvalidIndexError,
     MultiIndex,
     NaT,
     NumericIndex,
diff --git a/pandas/core/indexes/api.py b/pandas/core/indexes/api.py
index fcce82e7a69db..4c5a70f4088ee 100644
--- a/pandas/core/indexes/api.py
+++ b/pandas/core/indexes/api.py
@@ -2,11 +2,11 @@
 from typing import List, Set
 
 from pandas._libs import NaT, lib
+from pandas.errors import InvalidIndexError
 
 import pandas.core.common as com
 from pandas.core.indexes.base import (
     Index,
-    InvalidIndexError,
     _new_Index,
     ensure_index,
     ensure_index_from_sequences,
diff --git a/pandas/core/indexes/base.py b/pandas/core/indexes/base.py
index 4a99d2dfe339a..c046d6465ce67 100644
--- a/pandas/core/indexes/base.py
+++ b/pandas/core/indexes/base.py
@@ -16,6 +16,7 @@
 from pandas._typing import DtypeObj, Label
 from pandas.compat import set_function_name
 from pandas.compat.numpy import function as nv
+from pandas.errors import InvalidIndexError
 from pandas.util._decorators import Appender, Substitution, cache_readonly, doc
 
 from pandas.core.dtypes import concat as _concat
@@ -153,10 +154,6 @@ def index_arithmetic_method(self, other):
     return set_function_name(index_arithmetic_method, name, cls)
 
 
-class InvalidIndexError(Exception):
-    pass
-
-
 _o_dtype = np.dtype(object)
 _Identity = object
 
diff --git a/pandas/core/indexes/datetimes.py b/pandas/core/indexes/datetimes.py
index 6bcfb3bccf5c7..f3c96db0a8d6e 100644
--- a/pandas/core/indexes/datetimes.py
+++ b/pandas/core/indexes/datetimes.py
@@ -9,6 +9,7 @@
 from pandas._libs.tslibs import Resolution, fields, parsing, timezones, to_offset
 from pandas._libs.tslibs.offsets import prefix_mapping
 from pandas._typing import DtypeObj, Label
+from pandas.errors import InvalidIndexError
 from pandas.util._decorators import cache_readonly, doc
 
 from pandas.core.dtypes.common import (
@@ -24,7 +25,7 @@
 
 from pandas.core.arrays.datetimes import DatetimeArray, tz_to_dtype
 import pandas.core.common as com
-from pandas.core.indexes.base import Index, InvalidIndexError, maybe_extract_name
+from pandas.core.indexes.base import Index, maybe_extract_name
 from pandas.core.indexes.datetimelike import DatetimeTimedeltaMixin
 from pandas.core.indexes.extension import inherit_names
 from pandas.core.tools.times import to_time
diff --git a/pandas/core/indexes/interval.py b/pandas/core/indexes/interval.py
index 1a59e066879cc..3be2bcd4888cb 100644
--- a/pandas/core/indexes/interval.py
+++ b/pandas/core/indexes/interval.py
@@ -11,6 +11,7 @@
 from pandas._libs.interval import Interval, IntervalMixin, IntervalTree
 from pandas._libs.tslibs import Timedelta, Timestamp, to_offset
 from pandas._typing import AnyArrayLike, Label
+from pandas.errors import InvalidIndexError
 from pandas.util._decorators import Appender, Substitution, cache_readonly
 from pandas.util._exceptions import rewrite_exception
 
@@ -44,7 +45,6 @@
 import pandas.core.indexes.base as ibase
 from pandas.core.indexes.base import (
     Index,
-    InvalidIndexError,
     _index_shared_docs,
     default_pprint,
     ensure_index,
diff --git a/pandas/core/indexes/multi.py b/pandas/core/indexes/multi.py
index fc2d4cf4621c4..a09e5a657f9fb 100644
--- a/pandas/core/indexes/multi.py
+++ b/pandas/core/indexes/multi.py
@@ -20,7 +20,7 @@
 from pandas._libs.hashtable import duplicated_int64
 from pandas._typing import AnyArrayLike, Scalar
 from pandas.compat.numpy import function as nv
-from pandas.errors import PerformanceWarning, UnsortedIndexError
+from pandas.errors import InvalidIndexError, PerformanceWarning, UnsortedIndexError
 from pandas.util._decorators import Appender, cache_readonly, doc
 
 from pandas.core.dtypes.cast import coerce_indexer_dtype
@@ -45,12 +45,7 @@
 from pandas.core.arrays.categorical import factorize_from_iterables
 import pandas.core.common as com
 import pandas.core.indexes.base as ibase
-from pandas.core.indexes.base import (
-    Index,
-    InvalidIndexError,
-    _index_shared_docs,
-    ensure_index,
-)
+from pandas.core.indexes.base import Index, _index_shared_docs, ensure_index
 from pandas.core.indexes.frozen import FrozenList
 from pandas.core.indexes.numeric import Int64Index
 import pandas.core.missing as missing
diff --git a/pandas/core/indexes/period.py b/pandas/core/indexes/period.py
index 31783f6dbaaf7..68c2b44b23964 100644
--- a/pandas/core/indexes/period.py
+++ b/pandas/core/indexes/period.py
@@ -8,6 +8,7 @@
 from pandas._libs.tslibs import Period, Resolution
 from pandas._libs.tslibs.parsing import DateParseError, parse_time_string
 from pandas._typing import DtypeObj, Label
+from pandas.errors import InvalidIndexError
 from pandas.util._decorators import Appender, cache_readonly, doc
 
 from pandas.core.dtypes.common import (
@@ -32,7 +33,6 @@
 import pandas.core.common as com
 import pandas.core.indexes.base as ibase
 from pandas.core.indexes.base import (
-    InvalidIndexError,
     _index_shared_docs,
     ensure_index,
     maybe_extract_name,
diff --git a/pandas/core/indexes/timedeltas.py b/pandas/core/indexes/timedeltas.py
index ce3ff17814a25..a14994866c0f7 100644
--- a/pandas/core/indexes/timedeltas.py
+++ b/pandas/core/indexes/timedeltas.py
@@ -3,6 +3,7 @@
 from pandas._libs import index as libindex, lib
 from pandas._libs.tslibs import Timedelta, to_offset
 from pandas._typing import DtypeObj, Label
+from pandas.errors import InvalidIndexError
 from pandas.util._decorators import doc
 
 from pandas.core.dtypes.common import (
@@ -18,7 +19,7 @@
 from pandas.core.arrays import datetimelike as dtl
 from pandas.core.arrays.timedeltas import TimedeltaArray
 import pandas.core.common as com
-from pandas.core.indexes.base import Index, InvalidIndexError, maybe_extract_name
+from pandas.core.indexes.base import Index, maybe_extract_name
 from pandas.core.indexes.datetimelike import (
     DatetimeIndexOpsMixin,
     DatetimeTimedeltaMixin,
diff --git a/pandas/core/indexing.py b/pandas/core/indexing.py
index 326bd00270eca..9c8b01003bece 100644
--- a/pandas/core/indexing.py
+++ b/pandas/core/indexing.py
@@ -4,7 +4,7 @@
 
 from pandas._libs.indexing import _NDFrameIndexerBase
 from pandas._libs.lib import item_from_zerodim
-from pandas.errors import AbstractMethodError
+from pandas.errors import AbstractMethodError, InvalidIndexError
 from pandas.util._decorators import doc
 
 from pandas.core.dtypes.common import (
@@ -29,7 +29,7 @@
     is_list_like_indexer,
     length_of_indexer,
 )
-from pandas.core.indexes.api import Index, InvalidIndexError
+from pandas.core.indexes.api import Index
 
 if TYPE_CHECKING:
     from pandas import DataFrame  # noqa:F401
diff --git a/pandas/core/series.py b/pandas/core/series.py
index b32a4c36a8247..a27e44efe1a97 100644
--- a/pandas/core/series.py
+++ b/pandas/core/series.py
@@ -34,6 +34,7 @@
     ValueKeyFunc,
 )
 from pandas.compat.numpy import function as nv
+from pandas.errors import InvalidIndexError
 from pandas.util._decorators import Appender, Substitution, doc
 from pandas.util._validators import validate_bool_kwarg, validate_percentile
 
@@ -79,13 +80,7 @@
 from pandas.core.generic import NDFrame
 from pandas.core.indexers import unpack_1tuple
 from pandas.core.indexes.accessors import CombinedDatetimelikeProperties
-from pandas.core.indexes.api import (
-    Float64Index,
-    Index,
-    InvalidIndexError,
-    MultiIndex,
-    ensure_index,
-)
+from pandas.core.indexes.api import Float64Index, Index, MultiIndex, ensure_index
 import pandas.core.indexes.base as ibase
 from pandas.core.indexes.datetimes import DatetimeIndex
 from pandas.core.indexes.period import PeriodIndex
diff --git a/pandas/errors/__init__.py b/pandas/errors/__init__.py
index 4c4ce9df85543..e3427d93f3d84 100644
--- a/pandas/errors/__init__.py
+++ b/pandas/errors/__init__.py
@@ -200,3 +200,11 @@ class NumbaUtilError(Exception):
     """
     Error raised for unsupported Numba engine routines.
     """
+
+
+class InvalidIndexError(Exception):
+    """
+    Exception raised when attemping to use an invalid index key.
+
+    .. versionadded:: 1.1.0
+    """
diff --git a/pandas/tests/indexes/common.py b/pandas/tests/indexes/common.py
index 0f9509c372bdf..37ff97f028e81 100644
--- a/pandas/tests/indexes/common.py
+++ b/pandas/tests/indexes/common.py
@@ -5,6 +5,7 @@
 import pytest
 
 from pandas._libs import iNaT
+from pandas.errors import InvalidIndexError
 
 from pandas.core.dtypes.common import is_datetime64tz_dtype
 from pandas.core.dtypes.dtypes import CategoricalDtype
@@ -25,7 +26,6 @@
     isna,
 )
 import pandas._testing as tm
-from pandas.core.indexes.base import InvalidIndexError
 from pandas.core.indexes.datetimelike import DatetimeIndexOpsMixin
 
 
diff --git a/pandas/tests/indexes/datetimes/test_indexing.py b/pandas/tests/indexes/datetimes/test_indexing.py
index f08472fe72631..b1faaa2115f55 100644
--- a/pandas/tests/indexes/datetimes/test_indexing.py
+++ b/pandas/tests/indexes/datetimes/test_indexing.py
@@ -3,10 +3,11 @@
 import numpy as np
 import pytest
 
+from pandas.errors import InvalidIndexError
+
 import pandas as pd
 from pandas import DatetimeIndex, Index, Timestamp, date_range, notna
 import pandas._testing as tm
-from pandas.core.indexes.base import InvalidIndexError
 
 from pandas.tseries.offsets import BDay, CDay
 
diff --git a/pandas/tests/indexes/interval/test_indexing.py b/pandas/tests/indexes/interval/test_indexing.py
index 718136fca6c80..3abc6e348748a 100644
--- a/pandas/tests/indexes/interval/test_indexing.py
+++ b/pandas/tests/indexes/interval/test_indexing.py
@@ -3,6 +3,8 @@
 import numpy as np
 import pytest
 
+from pandas.errors import InvalidIndexError
+
 from pandas import (
     CategoricalIndex,
     Interval,
@@ -12,7 +14,6 @@
     timedelta_range,
 )
 import pandas._testing as tm
-from pandas.core.indexes.base import InvalidIndexError
 
 
 class TestGetLoc:
diff --git a/pandas/tests/indexes/interval/test_interval.py b/pandas/tests/indexes/interval/test_interval.py
index 997887cc18d61..2755b186f3eae 100644
--- a/pandas/tests/indexes/interval/test_interval.py
+++ b/pandas/tests/indexes/interval/test_interval.py
@@ -4,6 +4,8 @@
 import numpy as np
 import pytest
 
+from pandas.errors import InvalidIndexError
+
 import pandas as pd
 from pandas import (
     Index,
@@ -19,7 +21,6 @@
 )
 import pandas._testing as tm
 import pandas.core.common as com
-from pandas.core.indexes.base import InvalidIndexError
 
 
 @pytest.fixture(scope="class", params=[None, "foo"])
diff --git a/pandas/tests/indexes/multi/test_indexing.py b/pandas/tests/indexes/multi/test_indexing.py
index 4cc67986ad065..03ae2ae6a1f85 100644
--- a/pandas/tests/indexes/multi/test_indexing.py
+++ b/pandas/tests/indexes/multi/test_indexing.py
@@ -3,10 +3,11 @@
 import numpy as np
 import pytest
 
+from pandas.errors import InvalidIndexError
+
 import pandas as pd
 from pandas import Categorical, Index, MultiIndex, date_range
 import pandas._testing as tm
-from pandas.core.indexes.base import InvalidIndexError
 
 
 class TestSliceLocs:
diff --git a/pandas/tests/indexes/period/test_indexing.py b/pandas/tests/indexes/period/test_indexing.py
index 12454c20d2bb4..b61d1d903f89a 100644
--- a/pandas/tests/indexes/period/test_indexing.py
+++ b/pandas/tests/indexes/period/test_indexing.py
@@ -5,6 +5,7 @@
 import pytest
 
 from pandas._libs.tslibs import period as libperiod
+from pandas.errors import InvalidIndexError
 
 import pandas as pd
 from pandas import (
@@ -19,7 +20,6 @@
     period_range,
 )
 import pandas._testing as tm
-from pandas.core.indexes.base import InvalidIndexError
 
 
 class TestGetItem:
diff --git a/pandas/tests/resample/test_period_index.py b/pandas/tests/resample/test_period_index.py
index 3db9a91118ebc..fe02eaef8ba82 100644
--- a/pandas/tests/resample/test_period_index.py
+++ b/pandas/tests/resample/test_period_index.py
@@ -7,11 +7,11 @@
 
 from pandas._libs.tslibs.ccalendar import DAYS, MONTHS
 from pandas._libs.tslibs.period import IncompatibleFrequency
+from pandas.errors import InvalidIndexError
 
 import pandas as pd
 from pandas import DataFrame, Series, Timestamp
 import pandas._testing as tm
-from pandas.core.indexes.base import InvalidIndexError
 from pandas.core.indexes.datetimes import date_range
 from pandas.core.indexes.period import Period, PeriodIndex, period_range
 from pandas.core.resample import _get_period_range_edges