diff --git a/wagtail/admin/panels/inline_panel.py b/wagtail/admin/panels/inline_panel.py
index b2e9f3eaea..1469b1e5b0 100644
--- a/wagtail/admin/panels/inline_panel.py
+++ b/wagtail/admin/panels/inline_panel.py
@@ -3,6 +3,7 @@ import functools
 from django import forms
 from django.forms.formsets import DELETION_FIELD_NAME, ORDERING_FIELD_NAME
 from django.utils.functional import cached_property
+from django.utils.text import capfirst
 
 from wagtail.admin import compare
 
@@ -26,7 +27,7 @@ class InlinePanel(Panel):
         super().__init__(*args, **kwargs)
         self.relation_name = relation_name
         self.panels = panels
-        self.heading = heading or label
+        self.heading = heading or label or capfirst(relation_name.replace("_", " "))
         self.label = label
         self.min_num = min_num
         self.max_num = max_num
@@ -77,6 +78,8 @@ class InlinePanel(Panel):
     def on_model_bound(self):
         manager = getattr(self.model, self.relation_name)
         self.db_field = manager.rel
+        if not self.label:
+            self.label = capfirst(self.db_field.related_model._meta.verbose_name)
 
     def classes(self):
         return super().classes() + ["w-panel--nested"]
diff --git a/wagtail/admin/tests/test_edit_handlers.py b/wagtail/admin/tests/test_edit_handlers.py
index bf1d168193..df261a2bbc 100644
--- a/wagtail/admin/tests/test_edit_handlers.py
+++ b/wagtail/admin/tests/test_edit_handlers.py
@@ -1523,6 +1523,13 @@ class TestInlinePanel(WagtailTestUtils, TestCase):
                 ),
             )
 
+    def test_get_heading_and_label_from_field(self):
+        panel = InlinePanel("social_links").bind_to_model(PersonPage)
+        # Heading is the plural term, derived from the relation's related_name
+        self.assertEqual(panel.heading, "Social links")
+        # Label is the singular term, derived from the related model's verbose_name
+        self.assertEqual(panel.label, "Social link")
+
 
 class TestNonOrderableInlinePanel(WagtailTestUtils, TestCase):
     fixtures = ["test.json"]