diff --git a/extras/volume_id/vol_id.xml b/extras/volume_id/vol_id.xml
index fcf3a31fa5..3ab0b05c82 100644
--- a/extras/volume_id/vol_id.xml
+++ b/extras/volume_id/vol_id.xml
@@ -107,7 +107,7 @@
           <varlistentry>
             <term><option>--debug</option></term>
             <listitem>
-              <para>Print debug output to stderr.</para>
+              <para>Print debug messages to stderr.</para>
             </listitem>
           </varlistentry>
           <varlistentry>
diff --git a/udev/udevadm.c b/udev/udevadm.c
index e4f2420546..bfa704ef21 100644
--- a/udev/udevadm.c
+++ b/udev/udevadm.c
@@ -63,7 +63,8 @@ static int help(struct udev *udev, int argc, char *argv[])
 
 	printf("Usage: udevadm [--help] [--version] [--debug] COMMAND [COMMAND OPTIONS]\n");
 	for (cmd = cmds; cmd->name != NULL; cmd++)
-		printf("  %-12s %s\n", cmd->name, cmd->help);
+		if (cmd->help != NULL)
+			printf("  %-12s %s\n", cmd->name, cmd->help);
 	printf("\n");
 	return 0;
 }
@@ -103,12 +104,10 @@ static const struct command cmds[] = {
 	{
 		.name = "version",
 		.cmd = version,
-		.help = "print the version number",
 	},
 	{
 		.name = "help",
 		.cmd = help,
-		.help = "print this help text",
 	},
 	{}
 };
@@ -210,7 +209,8 @@ int main(int argc, char *argv[])
 			}
 		}
 
-	fprintf(stderr, "unknown command, try udevadm help\n\n");
+	fprintf(stderr, "missing or unknown command\n\n");
+	help(udev, argc, argv);
 	rc = 2;
 out:
 	sysfs_cleanup();
diff --git a/udev/udevadm.xml b/udev/udevadm.xml
index 2e02c305d9..075890845b 100644
--- a/udev/udevadm.xml
+++ b/udev/udevadm.xml
@@ -24,7 +24,13 @@
 
       <refsynopsisdiv>
         <cmdsynopsis>
-          <command>udevadm info <optional>options</optional></command>
+          <command>udevadm</command>
+            <arg><option>--debug</option></arg>
+            <arg><option>--version</option></arg>
+            <arg><option>--help</option></arg>
+        </cmdsynopsis>
+        <cmdsynopsis>
+          <command>udevadm info <replaceable>options</replaceable></command>
         </cmdsynopsis>
         <cmdsynopsis>
           <command>udevadm trigger <optional>options</optional></command>
@@ -41,12 +47,6 @@
         <cmdsynopsis>
           <command>udevadm test <optional>options</optional> <replaceable>devpath</replaceable></command>
         </cmdsynopsis>
-        <cmdsynopsis>
-          <command>udevadm version</command>
-        </cmdsynopsis>
-        <cmdsynopsis>
-          <command>udevadm help</command>
-        </cmdsynopsis>
       </refsynopsisdiv>
 
       <refsect1><title>DESCRIPTION</title>
@@ -56,6 +56,26 @@
       </refsect1>
 
       <refsect1><title>OPTIONS</title>
+        <variablelist>
+          <varlistentry>
+            <term><option>--debug</option></term>
+            <listitem>
+              <para>Print debug messages to stderr.</para>
+            </listitem>
+          </varlistentry>
+          <varlistentry>
+            <term><option>--version</option></term>
+            <listitem>
+              <para>Print version number.</para>
+            </listitem>
+          </varlistentry>
+          <varlistentry>
+            <term><option>--help</option></term>
+            <listitem>
+              <para>Print help text.</para>
+            </listitem>
+          </varlistentry>
+        </variablelist>
 
         <refsect2><title>udevadm info <replaceable>options</replaceable></title>
           <para>Queries the udev database for device information
@@ -351,14 +371,6 @@
             </varlistentry>
           </variablelist>
         </refsect2>
-
-        <refsect2><title>udevadm version</title>
-          <para>Print version number.</para>
-        </refsect2>
-
-        <refsect2><title>udevadm help</title>
-          <para>Print help text.</para>
-        </refsect2>
       </refsect1>
 
       <refsect1><title>AUTHOR</title>
diff --git a/udev/udevd.xml b/udev/udevd.xml
index 8d22a0c14d..b5726b8b03 100644
--- a/udev/udevd.xml
+++ b/udev/udevd.xml
@@ -61,7 +61,7 @@
           <varlistentry>
             <term><option>--debug</option></term>
             <listitem>
-              <para>Print log messages to stdout.</para>
+              <para>Print debug messages to stderr.</para>
             </listitem>
           </varlistentry>
           <varlistentry>
@@ -71,7 +71,7 @@
             </listitem>
           </varlistentry>
           <varlistentry>
-            <term><option>help</option></term>
+            <term><option>--help</option></term>
             <listitem>
               <para>Print help text.</para>
             </listitem>