diff --git a/changelogs/fragments/ansible-test-sanity-compile.yml b/changelogs/fragments/ansible-test-sanity-compile.yml
new file mode 100644
index 00000000000..7f077342f91
--- /dev/null
+++ b/changelogs/fragments/ansible-test-sanity-compile.yml
@@ -0,0 +1,2 @@
+minor_changes:
+  - ansible-test - Rewrite the ``compile`` sanity test to improve error handling and support Python 3.10.
diff --git a/test/lib/ansible_test/_data/sanity/compile/compile.py b/test/lib/ansible_test/_data/sanity/compile/compile.py
index 61910eee121..3f6fc962600 100755
--- a/test/lib/ansible_test/_data/sanity/compile/compile.py
+++ b/test/lib/ansible_test/_data/sanity/compile/compile.py
@@ -3,38 +3,44 @@
 from __future__ import (absolute_import, division, print_function)
 __metaclass__ = type
 
-import warnings
-
-with warnings.catch_warnings():
-    # The parser module is deprecated as of Python 3.9.
-    # This implementation will need to be updated to use another solution.
-    # Until then, disable the deprecation warnings to prevent test failures.
-    warnings.simplefilter('ignore', DeprecationWarning)
-    import parser
-
 import sys
 
+ENCODING = 'utf-8'
+ERRORS = 'replace'
+Text = type(u'')
 
-def main():
-    status = 0
 
+def main():
     for path in sys.argv[1:] or sys.stdin.read().splitlines():
         with open(path, 'rb') as source_fd:
-            if sys.version_info[0] == 3:
-                source = source_fd.read().decode('utf-8')
-            else:
-                source = source_fd.read()
+            source = source_fd.read()
 
         try:
-            parser.suite(source)
-        except SyntaxError:
-            ex = sys.exc_info()[1]
-            status = 1
-            message = ex.text.splitlines()[0].strip()
-            sys.stdout.write("%s:%d:%d: SyntaxError: %s\n" % (path, ex.lineno, ex.offset, message))
-            sys.stdout.flush()
-
-    sys.exit(status)
+            compile(source, path, 'exec', dont_inherit=True)
+        except SyntaxError as ex:
+            extype, message, lineno, offset = type(ex), ex.text, ex.lineno, ex.offset
+        except BaseException as ex:  # pylint: disable=broad-except
+            extype, message, lineno, offset = type(ex), str(ex), 0, 0
+        else:
+            continue
+
+        result = "%s:%d:%d: %s: %s" % (path, lineno, offset, extype.__name__, safe_message(message))
+
+        if sys.version_info <= (3,):
+            result = result.encode(ENCODING, ERRORS)
+
+        print(result)
+
+
+def safe_message(value):
+    """Given an input value as text or bytes, return the first non-empty line as text, ensuring it can be round-tripped as UTF-8."""
+    if isinstance(value, Text):
+        value = value.encode(ENCODING, ERRORS)
+
+    value = value.decode(ENCODING, ERRORS)
+    value = value.strip().splitlines()[0].strip()
+
+    return value
 
 
 if __name__ == '__main__':