diff --git a/django/db/models/fields/related.py b/django/db/models/fields/related.py
index 650bbdfe73..b288a82298 100644
--- a/django/db/models/fields/related.py
+++ b/django/db/models/fields/related.py
@@ -1125,7 +1125,7 @@ class ForeignObject(RelatedField):
 class ForeignKey(ForeignObject):
     empty_strings_allowed = False
     default_error_messages = {
-        'invalid': _('Model %(model)s with pk %(pk)r does not exist.')
+        'invalid': _('%(model)s instance with pk %(pk)r does not exist.')
     }
     description = _("Foreign Key (type determined by related field)")