Modern web services widely provide RESTful APIs for clients to access their functionality programmatically. Fuzzing is an emerging technique for ensuring the reliability of RESTful APIs. However, the existing RESTful API fuzzers repeatedly generate invalid requests due to unawareness of errors in the invalid tested requests and lack of effective strategy to generate legal value for the incorrect parameters. Such limitations severely hinder the fuzzing performance. In this paper, we propose DynER, a new test case generation method guided by dynamic error responses during fuzzing. DynER designs two strategies of parameter value generation for purposefully revising the incorrect parameters of invalid tested requests to generate new test requests. The strategies are, respectively, based on prompting Large Language Model (LLM) to understand the semantics information in error responses and actively accessing API-related resources. We apply DynER to the state-of-the-art fuzzer RESTler and implement DynER-RESTler. DynER-RESTler outperforms foREST on two real-world RESTful services, WordPress and GitLab with a 41.21% and 26.33% higher average pass rate for test requests and a 12.50% and 22.80% higher average number of unique request types successfully tested, respectively. The experimental results demonstrate that DynER significantly improves the effectiveness of test cases and fuzzing performance. Additionally, DynER-RESTler finds three new bugs.