diff --git a/numpy/core/arrayprint.py b/numpy/core/arrayprint.py
index dcfb6e6a834e..62cd527073a6 100644
--- a/numpy/core/arrayprint.py
+++ b/numpy/core/arrayprint.py
@@ -1096,7 +1096,7 @@ def format_float_scientific(x, precision=None, unique=True, trim='k',
         identify the value may be printed and rounded unbiased.
 
         -- versionadded:: 1.21.0
-        
+
     Returns
     -------
     rep : string
@@ -1181,7 +1181,7 @@ def format_float_positional(x, precision=None, unique=True,
         Minimum number of digits to print. Only has an effect if `unique=True`
         in which case additional digits past those necessary to uniquely
         identify the value may be printed, rounding the last additional digit.
-        
+
         -- versionadded:: 1.21.0
 
     Returns
@@ -1339,13 +1339,29 @@ def _format_non_nat(self, x):
 
 
 class SubArrayFormat:
-    def __init__(self, format_function):
+    def __init__(self, format_function, **options):
         self.format_function = format_function
+        self.threshold = options['threshold']
+        self.edge_items = options['edgeitems']
+
+    def __call__(self, a):
+        self.summary_insert = "..." if a.size > self.threshold else ""
+        return self.format_array(a)
+
+    def format_array(self, a):
+        if np.ndim(a) == 0:
+            return self.format_function(a)
+
+        if self.summary_insert and a.shape[0] > 2*self.edge_items:
+            formatted = (
+                [self.format_array(a_) for a_ in a[:self.edge_items]]
+                + [self.summary_insert]
+                + [self.format_array(a_) for a_ in a[-self.edge_items:]]
+            )
+        else:
+            formatted = [self.format_array(a_) for a_ in a]
 
-    def __call__(self, arr):
-        if arr.ndim <= 1:
-            return "[" + ", ".join(self.format_function(a) for a in arr) + "]"
-        return "[" + ", ".join(self.__call__(a) for a in arr) + "]"
+        return "[" + ", ".join(formatted) + "]"
 
 
 class StructuredVoidFormat:
@@ -1369,7 +1385,7 @@ def from_data(cls, data, **options):
         for field_name in data.dtype.names:
             format_function = _get_format_function(data[field_name], **options)
             if data.dtype[field_name].shape != ():
-                format_function = SubArrayFormat(format_function)
+                format_function = SubArrayFormat(format_function, **options)
             format_functions.append(format_function)
         return cls(format_functions)
 
@@ -1428,7 +1444,7 @@ def dtype_is_implied(dtype):
     # not just void types can be structured, and names are not part of the repr
     if dtype.names is not None:
         return False
-    
+
     # should care about endianness *unless size is 1* (e.g., int8, bool)
     if not dtype.isnative:
         return False
diff --git a/numpy/core/tests/test_arrayprint.py b/numpy/core/tests/test_arrayprint.py
index 372cb8d415f4..b92c8ae8c85b 100644
--- a/numpy/core/tests/test_arrayprint.py
+++ b/numpy/core/tests/test_arrayprint.py
@@ -353,6 +353,33 @@ def test_summarize_2d(self):
                 '       [ 501,  502,  503, ...,  999, 1000, 1001]])'
         assert_equal(repr(A), reprA)
 
+    def test_summarize_structure(self):
+        A = (np.arange(2002, dtype="<i8").reshape(2, 1001)
+             .view([('i', "<i8", (1001,))]))
+        strA = ("[[([   0,    1,    2, ...,  998,  999, 1000],)]\n"
+                " [([1001, 1002, 1003, ..., 1999, 2000, 2001],)]]")
+        assert_equal(str(A), strA)
+
+        reprA = ("array([[([   0,    1,    2, ...,  998,  999, 1000],)],\n"
+                 "       [([1001, 1002, 1003, ..., 1999, 2000, 2001],)]],\n"
+                 "      dtype=[('i', '<i8', (1001,))])")
+        assert_equal(repr(A), reprA)
+
+        B = np.ones(2002, dtype=">i8").view([('i', ">i8", (2, 1001))])
+        strB = "[([[1, 1, 1, ..., 1, 1, 1], [1, 1, 1, ..., 1, 1, 1]],)]"
+        assert_equal(str(B), strB)
+
+        reprB = (
+            "array([([[1, 1, 1, ..., 1, 1, 1], [1, 1, 1, ..., 1, 1, 1]],)],\n"
+            "      dtype=[('i', '>i8', (2, 1001))])"
+        )
+        assert_equal(repr(B), reprB)
+
+        C = (np.arange(22, dtype="<i8").reshape(2, 11)
+             .view([('i1', "<i8"), ('i10', "<i8", (10,))]))
+        strC = "[[( 0, [ 1, ..., 10])]\n [(11, [12, ..., 21])]]"
+        assert_equal(np.array2string(C, threshold=1, edgeitems=1), strC)
+
     def test_linewidth(self):
         a = np.full(6, 1)
 
@@ -817,7 +844,7 @@ def test_dtype_linewidth_wrapping(self):
     )
     def test_dtype_endianness_repr(self, native):
         '''
-        there was an issue where 
+        there was an issue where
         repr(array([0], dtype='<u2')) and repr(array([0], dtype='>u2'))
         both returned the same thing:
         array([0], dtype=uint16)
@@ -963,6 +990,16 @@ def test_edgeitems(self):
                     [[ 0.]]]])""")
         )
 
+    def test_edgeitems_structured(self):
+        np.set_printoptions(edgeitems=1, threshold=1)
+        A = np.arange(5*2*3, dtype="<i8").view([('i', "<i8", (5, 2, 3))])
+        reprA = (
+            "array([([[[ 0, ...,  2], [ 3, ...,  5]], ..., "
+            "[[24, ..., 26], [27, ..., 29]]],)],\n"
+            "      dtype=[('i', '<i8', (5, 2, 3))])"
+        )
+        assert_equal(repr(A), reprA)
+
     def test_bad_args(self):
         assert_raises(ValueError, np.set_printoptions, threshold=float('nan'))
         assert_raises(TypeError, np.set_printoptions, threshold='1')