diff --git a/homeassistant/components/zha/core/channels/base.py b/homeassistant/components/zha/core/channels/base.py
index ae5980cd630..6d4899be37c 100644
--- a/homeassistant/components/zha/core/channels/base.py
+++ b/homeassistant/components/zha/core/channels/base.py
@@ -58,15 +58,19 @@ class AttrReportConfig(TypedDict, total=True):
 
 def parse_and_log_command(channel, tsn, command_id, args):
     """Parse and log a zigbee cluster command."""
-    cmd = channel.cluster.server_commands.get(command_id, [command_id])[0]
+    try:
+        name = channel.cluster.server_commands[command_id].name
+    except KeyError:
+        name = f"0x{command_id:02X}"
+
     channel.debug(
         "received '%s' command with %s args on cluster_id '%s' tsn '%s'",
-        cmd,
+        name,
         args,
         channel.cluster.cluster_id,
         tsn,
     )
-    return cmd
+    return name
 
 
 def decorate_command(channel, command):
diff --git a/tests/components/zha/test_base.py b/tests/components/zha/test_base.py
new file mode 100644
index 00000000000..fbb25f1cbd3
--- /dev/null
+++ b/tests/components/zha/test_base.py
@@ -0,0 +1,19 @@
+"""Test ZHA base channel module."""
+
+from homeassistant.components.zha.core.channels.base import parse_and_log_command
+
+from tests.components.zha.test_channels import (  # noqa: F401
+    channel_pool,
+    poll_control_ch,
+    zigpy_coordinator_device,
+)
+
+
+def test_parse_and_log_command(poll_control_ch):  # noqa: F811
+    """Test that `parse_and_log_command` correctly parses a known command."""
+    assert parse_and_log_command(poll_control_ch, 0x00, 0x01, []) == "fast_poll_stop"
+
+
+def test_parse_and_log_command_unknown(poll_control_ch):  # noqa: F811
+    """Test that `parse_and_log_command` correctly parses an unknown command."""
+    assert parse_and_log_command(poll_control_ch, 0x00, 0xAB, []) == "0xAB"