diff --git a/gtsam/discrete/discrete.i b/gtsam/discrete/discrete.i
index a837328838..d17401e44f 100644
--- a/gtsam/discrete/discrete.i
+++ b/gtsam/discrete/discrete.i
@@ -48,7 +48,7 @@ virtual class DecisionTreeFactor : gtsam::DiscreteFactor {
   bool equals(const gtsam::DecisionTreeFactor& other, double tol = 1e-9) const;
   string dot(
       const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter,
-      bool showZero = false) const;
+      bool showZero = true) const;
   std::vector<std::pair<DiscreteValues, double>> enumerate() const;
   string markdown(const gtsam::KeyFormatter& keyFormatter =
                       gtsam::DefaultKeyFormatter) const;
diff --git a/gtsam/discrete/tests/testDecisionTreeFactor.cpp b/gtsam/discrete/tests/testDecisionTreeFactor.cpp
index c4e5f06bb3..716a77127c 100644
--- a/gtsam/discrete/tests/testDecisionTreeFactor.cpp
+++ b/gtsam/discrete/tests/testDecisionTreeFactor.cpp
@@ -100,6 +100,20 @@ TEST(DecisionTreeFactor, enumerate) {
   EXPECT(actual == expected);
 }
 
+/* ************************************************************************* */
+TEST(DiscreteFactorGraph, DotWithNames) {
+  DiscreteKey A(12, 3), B(5, 2);
+  DecisionTreeFactor f(A & B, "1 2  3 4  5 6");
+  auto formatter = [](Key key) { return key == 12 ? "A" : "B"; };
+
+  for (bool showZero:{true, false}) {  
+    string actual = f.dot(formatter, showZero);
+    // pretty weak test, as ids are pointers and not stable across platforms.
+    string expected = "digraph G {";
+    EXPECT(actual.substr(0, 11) == expected);
+  }
+}
+
 /* ************************************************************************* */
 // Check markdown representation looks as expected.
 TEST(DecisionTreeFactor, markdown) {
diff --git a/gtsam/discrete/tests/testDiscreteFactorGraph.cpp b/gtsam/discrete/tests/testDiscreteFactorGraph.cpp
index b6172382a6..ef9efbe026 100644
--- a/gtsam/discrete/tests/testDiscreteFactorGraph.cpp
+++ b/gtsam/discrete/tests/testDiscreteFactorGraph.cpp
@@ -382,6 +382,31 @@ TEST(DiscreteFactorGraph, Dot) {
   EXPECT(actual == expected);
 }
 
+/* ************************************************************************* */
+TEST(DiscreteFactorGraph, DotWithNames) {
+  // Create Factor graph
+  DiscreteFactorGraph graph;
+  DiscreteKey C(0, 2), A(1, 2), B(2, 2);
+  graph.add(C & A, "0.2 0.8 0.3 0.7");
+  graph.add(C & B, "0.1 0.9 0.4 0.6");
+
+  vector<string> names{"C", "A", "B"};
+  auto formatter = [names](Key key) { return names[key]; };
+  string actual = graph.dot(formatter);
+  string expected =
+      "graph {\n"
+      "  size=\"5,5\";\n"
+      "\n"
+      "  var0[label=\"C\"];\n"
+      "  var1[label=\"A\"];\n"
+      "  var2[label=\"B\"];\n"
+      "\n"
+      "  var0--var1;\n"
+      "  var0--var2;\n"
+      "}\n";
+  EXPECT(actual == expected);
+}
+
 /* ************************************************************************* */
 // Check markdown representation looks as expected.
 TEST(DiscreteFactorGraph, markdown) {