diff --git a/src/cargo/ops/cargo_read_manifest.rs b/src/cargo/ops/cargo_read_manifest.rs
index aee5897d086..2dfe900860f 100644
--- a/src/cargo/ops/cargo_read_manifest.rs
+++ b/src/cargo/ops/cargo_read_manifest.rs
@@ -183,11 +183,16 @@ fn read_nested_packages(
             v.insert(pkg);
         }
         Entry::Occupied(_) => {
-            let _ = config.shell().warn(format!(
-                "skipping duplicate package `{}` found at `{}`",
-                pkg.name(),
-                path.to_string_lossy()
-            ));
+            // We can assume a package with publish = false isn't intended to be seen
+            // by users so we can hide the warning about those since the user is unlikely
+            // to care about those cases.
+            if pkg.publish().is_none() {
+                let _ = config.shell().warn(format!(
+                    "skipping duplicate package `{}` found at `{}`",
+                    pkg.name(),
+                    path.display()
+                ));
+            }
         }
     }
 
diff --git a/tests/testsuite/git.rs b/tests/testsuite/git.rs
index 54dd8dcb05d..96cabeed231 100644
--- a/tests/testsuite/git.rs
+++ b/tests/testsuite/git.rs
@@ -1078,16 +1078,34 @@ fn dep_with_skipped_submodule() {
 }
 
 #[cargo_test]
-fn dep_ambiguous() {
+fn ambiguous_published_deps() {
     let project = project();
     let git_project = git::new("dep", |project| {
         project
-            .file("aaa/Cargo.toml", &basic_manifest("bar", "0.5.0"))
+            .file(
+                "aaa/Cargo.toml",
+                &format!(
+                    r#"
+                    [project]
+                    name = "bar"
+                    version = "0.5.0"
+                    publish = true
+                "#
+                ),
+            )
             .file("aaa/src/lib.rs", "")
-            .file("bbb/Cargo.toml", &basic_manifest("bar", "0.5.0"))
+            .file(
+                "bbb/Cargo.toml",
+                &format!(
+                    r#"
+                    [project]
+                    name = "bar"
+                    version = "0.5.0"
+                    publish = true
+                "#
+                ),
+            )
             .file("bbb/src/lib.rs", "")
-            .file("ccc/Cargo.toml", &basic_manifest("bar", "0.5.0"))
-            .file("ccc/src/lib.rs", "")
     });
 
     let p = project
@@ -1115,7 +1133,6 @@ fn dep_ambiguous() {
         .with_stderr(
             "\
 [WARNING] skipping duplicate package `bar` found at `[..]`
-[WARNING] skipping duplicate package `bar` found at `[..]`
 [FINISHED] dev [unoptimized + debuginfo] target(s) in [..]
 [RUNNING] `target/debug/foo[EXE]`
 ",