diff --git a/src/descriptor/mod.rs b/src/descriptor/mod.rs
index 47da23b8b..5c9c5293f 100644
--- a/src/descriptor/mod.rs
+++ b/src/descriptor/mod.rs
@@ -771,7 +771,7 @@ impl Descriptor<DescriptorPublicKey> {
         let descriptor = Descriptor::<String>::from_str(s)?;
         let descriptor = descriptor
             .translate_pk(&mut keymap_pk)
-            .map_err(|e| e.expect_translator_err("No Outer context errors"))?;
+            .map_err(TranslateErr::flatten)?;
 
         Ok((descriptor, keymap_pk.0))
     }
@@ -2168,4 +2168,19 @@ pk(03f28773c2d975288bc7d1d205c3748651b075fbc6610e58cddeeddf8f19405aa8))";
         Desc::from_str(&format!("tr({},pk({}))", x_only_key, uncomp_key)).unwrap_err();
         Desc::from_str(&format!("tr({},pk({}))", x_only_key, x_only_key)).unwrap();
     }
+
+    #[test]
+    fn regression_806() {
+        let secp = secp256k1::Secp256k1::signing_only();
+        type Desc = Descriptor<DescriptorPublicKey>;
+        // OK
+        Desc::from_str("pkh(111111111111111111111111111111110000008375319363688624584A111111)")
+            .unwrap_err();
+        // ERR: crashes in translate_pk
+        Desc::parse_descriptor(
+            &secp,
+            "pkh(111111111111111111111111111111110000008375319363688624584A111111)",
+        )
+        .unwrap_err();
+    }
 }
diff --git a/src/lib.rs b/src/lib.rs
index 3b0c0d3bf..fb096e430 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -356,10 +356,22 @@ impl<E> TranslateErr<E> {
     ///
     /// This function will panic if the Error is OutError.
     pub fn expect_translator_err(self, msg: &str) -> E {
-        if let Self::TranslatorErr(v) = self {
-            v
-        } else {
-            panic!("{}", msg)
+        match self {
+            Self::TranslatorErr(v) => v,
+            Self::OuterError(ref e) => {
+                panic!("Unexpected Miniscript error when translating: {}\nMessage: {}", e, msg)
+            }
+        }
+    }
+}
+
+impl TranslateErr<Error> {
+    /// If we are doing a translation where our "outer error" is the generic
+    /// Miniscript error, eliminate the `TranslateErr` type which is just noise.
+    pub fn flatten(self) -> Error {
+        match self {
+            Self::TranslatorErr(e) => e,
+            Self::OuterError(e) => e,
         }
     }
 }