diff --git a/samcli/lib/providers/api_collector.py b/samcli/lib/providers/api_collector.py
index 8c01c6fb084..3c71bbcf075 100644
--- a/samcli/lib/providers/api_collector.py
+++ b/samcli/lib/providers/api_collector.py
@@ -17,6 +17,9 @@
 
 
 class ApiCollector:
+    # Authorizer types that are valid but not Lambda-based, so cannot be emulated locally
+    _NON_LAMBDA_AUTHORIZERS = {"AWS_IAM", "NONE"}
+
     def __init__(self) -> None:
         # Route properties stored per resource.
         self._route_per_resource: Dict[str, List[Route]] = defaultdict(list)
@@ -108,11 +111,19 @@ def _link_authorizers(self) -> None:
                     continue
 
                 if not authorizer_object and authorizer_name_lookup:
-                    LOG.info(
-                        "Linking authorizer skipped for route '%s', authorizer '%s' is unsupported or not found",
-                        route.path,
-                        route.authorizer_name,
-                    )
+                    if authorizer_name_lookup in self._NON_LAMBDA_AUTHORIZERS:
+                        LOG.info(
+                            "Authorizer '%s' for route '%s' is not supported for local emulation,"
+                            " requests will not be authorized",
+                            authorizer_name_lookup,
+                            route.path,
+                        )
+                    else:
+                        LOG.warning(
+                            "Authorizer '%s' for route '%s' was not found, skipping",
+                            authorizer_name_lookup,
+                            route.path,
+                        )
 
                     route.authorizer_name = None