diff --git a/mllib/src/main/scala/org/apache/spark/ml/feature/VectorAssembler.scala b/mllib/src/main/scala/org/apache/spark/ml/feature/VectorAssembler.scala
index 6bf4aa38b1fc..4061154b39c1 100644
--- a/mllib/src/main/scala/org/apache/spark/ml/feature/VectorAssembler.scala
+++ b/mllib/src/main/scala/org/apache/spark/ml/feature/VectorAssembler.scala
@@ -71,12 +71,12 @@ class VectorAssembler @Since("1.4.0") (@Since("1.4.0") override val uid: String)
    */
   @Since("2.4.0")
   override val handleInvalid: Param[String] = new Param[String](this, "handleInvalid",
-    """Param for how to handle invalid data (NULL values). Options are 'skip' (filter out rows with
-      |invalid data), 'error' (throw an error), or 'keep' (return relevant number of NaN in the
-      |output). Column lengths are taken from the size of ML Attribute Group, which can be set using
-      |`VectorSizeHint` in a pipeline before `VectorAssembler`. Column lengths can also be inferred
-      |from first rows of the data since it is safe to do so but only in case of 'error' or 'skip'.
-      |""".stripMargin.replaceAll("\n", " "),
+    """Param for how to handle invalid data (NULL and NaN values). Options are 'skip' (filter out
+      |rows with invalid data), 'error' (throw an error), or 'keep' (return relevant number of NaN
+      |in the output). Column lengths are taken from the size of ML Attribute Group, which can be
+      |set using `VectorSizeHint` in a pipeline before `VectorAssembler`. Column lengths can also
+      |be inferred from first rows of the data since it is safe to do so but only in case of 'error'
+      |or 'skip'.""".stripMargin.replaceAll("\n", " "),
     ParamValidators.inArray(VectorAssembler.supportedHandleInvalids))
 
   setDefault(handleInvalid, VectorAssembler.ERROR_INVALID)
diff --git a/python/pyspark/ml/feature.py b/python/pyspark/ml/feature.py
index 5a3e0dd65515..cdda30cfab48 100755
--- a/python/pyspark/ml/feature.py
+++ b/python/pyspark/ml/feature.py
@@ -2701,7 +2701,8 @@ def setParams(self, inputCol=None, outputCol=None):
 
 
 @inherit_doc
-class VectorAssembler(JavaTransformer, HasInputCols, HasOutputCol, JavaMLReadable, JavaMLWritable):
+class VectorAssembler(JavaTransformer, HasInputCols, HasOutputCol, HasHandleInvalid, JavaMLReadable,
+                      JavaMLWritable):
     """
     A feature transformer that merges multiple columns into a vector column.
 
@@ -2719,25 +2720,56 @@ class VectorAssembler(JavaTransformer, HasInputCols, HasOutputCol, JavaMLReadabl
     >>> loadedAssembler = VectorAssembler.load(vectorAssemblerPath)
     >>> loadedAssembler.transform(df).head().freqs == vecAssembler.transform(df).head().freqs
     True
+    >>> dfWithNullsAndNaNs = spark.createDataFrame(
+    ...    [(1.0, 2.0, None), (3.0, float("nan"), 4.0), (5.0, 6.0, 7.0)], ["a", "b", "c"])
+    >>> vecAssembler2 = VectorAssembler(inputCols=["a", "b", "c"], outputCol="features",
+    ...    handleInvalid="keep")
+    >>> vecAssembler2.transform(dfWithNullsAndNaNs).show()
+    +---+---+----+-------------+
+    |  a|  b|   c|     features|
+    +---+---+----+-------------+
+    |1.0|2.0|null|[1.0,2.0,NaN]|
+    |3.0|NaN| 4.0|[3.0,NaN,4.0]|
+    |5.0|6.0| 7.0|[5.0,6.0,7.0]|
+    +---+---+----+-------------+
+    ...
+    >>> vecAssembler2.setParams(handleInvalid="skip").transform(dfWithNullsAndNaNs).show()
+    +---+---+---+-------------+
+    |  a|  b|  c|     features|
+    +---+---+---+-------------+
+    |5.0|6.0|7.0|[5.0,6.0,7.0]|
+    +---+---+---+-------------+
+    ...
 
     .. versionadded:: 1.4.0
     """
 
+    handleInvalid = Param(Params._dummy(), "handleInvalid", "How to handle invalid data (NULL " +
+                          "and NaN values). Options are 'skip' (filter out rows with invalid " +
+                          "data), 'error' (throw an error), or 'keep' (return relevant number " +
+                          "of NaN in the output). Column lengths are taken from the size of ML " +
+                          "Attribute Group, which can be set using `VectorSizeHint` in a " +
+                          "pipeline before `VectorAssembler`. Column lengths can also be " +
+                          "inferred from first rows of the data since it is safe to do so but " +
+                          "only in case of 'error' or 'skip').",
+                          typeConverter=TypeConverters.toString)
+
     @keyword_only
-    def __init__(self, inputCols=None, outputCol=None):
+    def __init__(self, inputCols=None, outputCol=None, handleInvalid="error"):
         """
-        __init__(self, inputCols=None, outputCol=None)
+        __init__(self, inputCols=None, outputCol=None, handleInvalid="error")
         """
         super(VectorAssembler, self).__init__()
         self._java_obj = self._new_java_obj("org.apache.spark.ml.feature.VectorAssembler", self.uid)
+        self._setDefault(handleInvalid="error")
         kwargs = self._input_kwargs
         self.setParams(**kwargs)
 
     @keyword_only
     @since("1.4.0")
-    def setParams(self, inputCols=None, outputCol=None):
+    def setParams(self, inputCols=None, outputCol=None, handleInvalid="error"):
         """
-        setParams(self, inputCols=None, outputCol=None)
+        setParams(self, inputCols=None, outputCol=None, handleInvalid="error")
         Sets params for this VectorAssembler.
         """
         kwargs = self._input_kwargs