diff --git a/openapi_spec_validator/validation/keywords.py b/openapi_spec_validator/validation/keywords.py
index 6c4b751..df52f34 100644
--- a/openapi_spec_validator/validation/keywords.py
+++ b/openapi_spec_validator/validation/keywords.py
@@ -392,13 +392,20 @@ def __call__(
         if path_parameters is not None:
             names += list(self._get_path_param_names(path_parameters))
 
-        all_params = list(set(names))
+        all_params = set(names)
+        url_params = set(self._get_path_params_from_url(url))
 
-        for path in self._get_path_params_from_url(url):
+        for path in sorted(url_params):
             if path not in all_params:
                 yield UnresolvableParameterError(
                     f"Path parameter '{path}' for '{name}' operation in '{url}' was not resolved"
                 )
+
+        for path in sorted(all_params):
+            if path not in url_params:
+                yield UnresolvableParameterError(
+                    f"Path parameter '{path}' for '{name}' operation in '{url}' was not resolved"
+                )
         return
 
     def _get_path_param_names(self, params: SchemaPath) -> Iterator[str]:
diff --git a/tests/integration/validation/test_exceptions.py b/tests/integration/validation/test_exceptions.py
index 2d2aba1..5cfdd2e 100644
--- a/tests/integration/validation/test_exceptions.py
+++ b/tests/integration/validation/test_exceptions.py
@@ -268,6 +268,46 @@ def test_undocumented_parameter(self):
             "'/test/{param1}/{param2}' was not resolved"
         )
 
+    def test_extra_path_parameter_not_present_in_path(self):
+        spec = {
+            "openapi": "3.0.0",
+            "info": {
+                "title": "Test Api",
+                "version": "0.0.1",
+            },
+            "paths": {
+                "/test": {
+                    "get": {
+                        "responses": {
+                            "default": {
+                                "description": "default response",
+                            },
+                        },
+                        "parameters": [
+                            {
+                                "name": "param1",
+                                "in": "path",
+                                "required": True,
+                                "schema": {
+                                    "type": "integer",
+                                },
+                            },
+                        ],
+                    },
+                },
+            },
+        }
+
+        errors = OpenAPIV30SpecValidator(spec).iter_errors()
+
+        errors_list = list(errors)
+        assert len(errors_list) == 1
+        assert errors_list[0].__class__ == UnresolvableParameterError
+        assert errors_list[0].message == (
+            "Path parameter 'param1' for 'get' operation in '/test' "
+            "was not resolved"
+        )
+
     def test_default_value_wrong_type(self):
         spec = {
             "openapi": "3.0.0",