How to resolve aws lambda “Internal Server Error” with API gateway integration?

If an API Gateway HTTP API tries to invoke a Lambda function without Lambda invoke permission, then API Gateway returns an Internal Server Error message. If you activated CloudWatch logging for your HTTP API, then API Gateway also logs one of the following error messages in your access logs:

CloudWatch error message for HTTP APIs with a Lambda integration
“integrationError”: “The IAM role configured on the integration or API Gateway doesn’t have permissions to call the integration. Check the permissions and try again.”

CloudWatch error message for HTTP APIs with a Lambda authorizer
“authorizerError”: “The IAM role configured on the authorizer or API Gateway doesn’t have permissions to call the authorizer. Check the permissions and try again.”

Resolution:

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