diff --git a/bson/bsonrw/extjson_reader.go b/bson/bsonrw/extjson_reader.go
index dd560c96f6..b83012b21c 100644
--- a/bson/bsonrw/extjson_reader.go
+++ b/bson/bsonrw/extjson_reader.go
@@ -159,29 +159,18 @@ func (ejvr *extJSONValueReader) pop() {
 	}
 }
 
-func (ejvr *extJSONValueReader) skipDocument() error {
-	// read entire document until ErrEOD (using readKey and readValue)
-	_, typ, err := ejvr.p.readKey()
-	for err == nil {
-		_, err = ejvr.p.readValue(typ)
-		if err != nil {
-			break
+func (ejvr *extJSONValueReader) skipObject() {
+	// read entire object until depth returns to 0 (last ending } or ] seen)
+	depth := 1
+	for depth > 0 {
+		ejvr.p.advanceState()
+		switch ejvr.p.s {
+		case jpsSawBeginObject, jpsSawBeginArray:
+			depth++
+		case jpsSawEndObject, jpsSawEndArray:
+			depth--
 		}
-
-		_, typ, err = ejvr.p.readKey()
 	}
-
-	return err
-}
-
-func (ejvr *extJSONValueReader) skipArray() error {
-	// read entire array until ErrEOA (using peekType)
-	_, err := ejvr.p.peekType()
-	for err == nil {
-		_, err = ejvr.p.peekType()
-	}
-
-	return err
 }
 
 func (ejvr *extJSONValueReader) invalidTransitionErr(destination mode, name string, modes []mode) error {
@@ -234,30 +223,9 @@ func (ejvr *extJSONValueReader) Skip() error {
 
 	t := ejvr.stack[ejvr.frame].vType
 	switch t {
-	case bsontype.Array:
-		// read entire array until ErrEOA
-		err := ejvr.skipArray()
-		if err != ErrEOA {
-			return err
-		}
-	case bsontype.EmbeddedDocument:
-		// read entire doc until ErrEOD
-		err := ejvr.skipDocument()
-		if err != ErrEOD {
-			return err
-		}
-	case bsontype.CodeWithScope:
-		// read the code portion and set up parser in document mode
-		_, err := ejvr.p.readValue(t)
-		if err != nil {
-			return err
-		}
-
-		// read until ErrEOD
-		err = ejvr.skipDocument()
-		if err != ErrEOD {
-			return err
-		}
+	case bsontype.Array, bsontype.EmbeddedDocument, bsontype.CodeWithScope:
+		// read entire array, doc or CodeWithScope
+		ejvr.skipObject()
 	default:
 		_, err := ejvr.p.readValue(t)
 		if err != nil {
diff --git a/bson/unmarshal_test.go b/bson/unmarshal_test.go
index 283ff5d450..d98f527737 100644
--- a/bson/unmarshal_test.go
+++ b/bson/unmarshal_test.go
@@ -166,3 +166,115 @@ func TestCachingDecodersNotSharedAcrossRegistries(t *testing.T) {
 		assert.Equal(t, int32(-1), *second.X, "expected X value to be -1, got %v", *second.X)
 	})
 }
+
+func TestUnmarshalExtJSONWithUndefinedField(t *testing.T) {
+	// When unmarshalling, fields that are undefined in the destination struct are skipped.
+	// This process must not skip other, defined fields and must not raise errors.
+	type expectedResponse struct {
+		DefinedField string
+	}
+
+	unmarshalExpectedResponse := func(t *testing.T, extJSON string) *expectedResponse {
+		t.Helper()
+		responseDoc := expectedResponse{}
+		err := UnmarshalExtJSON([]byte(extJSON), false, &responseDoc)
+		assert.Nil(t, err, "UnmarshalExtJSON error: %v", err)
+		return &responseDoc
+	}
+
+	testCases := []struct {
+		name     string
+		testJSON string
+	}{
+		{
+			"no array",
+			`{
+				"UndefinedField": {"key": 1},
+				"DefinedField": "value"
+			}`,
+		},
+		{
+			"outer array",
+			`{
+				"UndefinedField": [{"key": 1}],
+				"DefinedField": "value"
+			}`,
+		},
+		{
+			"embedded array",
+			`{
+				"UndefinedField": {"keys": [2]},
+				"DefinedField": "value"
+			}`,
+		},
+		{
+			"outer array and embedded array",
+			`{
+				"UndefinedField": [{"keys": [2]}],
+				"DefinedField": "value"
+			}`,
+		},
+		{
+			"embedded document",
+			`{
+				"UndefinedField": {"key": {"one": "two"}},
+				"DefinedField": "value"
+			}`,
+		},
+		{
+			"doubly embedded document",
+			`{
+				"UndefinedField": {"key": {"one": {"two": "three"}}},
+				"DefinedField": "value"
+			}`,
+		},
+		{
+			"embedded document and embedded array",
+			`{
+				"UndefinedField": {"key": {"one": {"two": [3]}}},
+				"DefinedField": "value"
+			}`,
+		},
+		{
+			"embedded document and embedded array in outer array",
+			`{
+				"UndefinedField": [{"key": {"one": [3]}}],
+				"DefinedField": "value"
+			}`,
+		},
+		{
+			"code with scope",
+			`{
+				"UndefinedField": {"logic": {"$code": "foo", "$scope": {"bar": 1}}},
+				"DefinedField": "value"
+			}`,
+		},
+		{
+			"embedded array of code with scope",
+			`{
+				"UndefinedField": {"logic": [{"$code": "foo", "$scope": {"bar": 1}}]},
+				"DefinedField": "value"
+			}`,
+		},
+		{
+			"type definition embedded document",
+			`{
+				"UndefinedField": {"myDouble": {"$numberDouble": "1.24"}},
+				"DefinedField": "value"
+			}`,
+		},
+		{
+			"empty embedded document",
+			`{
+				"UndefinedField": {"empty": {}},
+				"DefinedField": "value"
+			}`,
+		},
+	}
+	for _, tc := range testCases {
+		t.Run(tc.name, func(t *testing.T) {
+			responseDoc := unmarshalExpectedResponse(t, tc.testJSON)
+			assert.Equal(t, "value", responseDoc.DefinedField, "expected DefinedField to be 'value', got %q", responseDoc.DefinedField)
+		})
+	}
+}