diff --git a/lib/connection_config.js b/lib/connection_config.js
index a18b30b330..d5d4f7b9a0 100644
--- a/lib/connection_config.js
+++ b/lib/connection_config.js
@@ -65,7 +65,8 @@ const validOptions = {
   idleTimeout: 1,
   Promise: 1,
   queueLimit: 1,
-  waitForConnections: 1
+  waitForConnections: 1,
+  acquireTimeout: 1
 };
 
 class ConnectionConfig {
diff --git a/lib/pool.js b/lib/pool.js
index 1b4993ff1a..6fbd86553a 100644
--- a/lib/pool.js
+++ b/lib/pool.js
@@ -56,7 +56,7 @@ class Pool extends EventEmitter {
         config: this.config.connectionConfig
       });
       this._allConnections.push(connection);
-      return connection.connect(err => {
+      return connection.connect((err) => {
         if (this._closed) {
           return cb(new Error('Pool is closed.'));
         }
@@ -78,6 +78,24 @@ class Pool extends EventEmitter {
       return cb(new Error('Queue limit reached.'));
     }
     this.emit('enqueue');
+
+    if (this.config.acquireTimeout > 0) {
+      // eslint-disable-next-line prefer-const
+      let timer;
+
+      const wrappedCb = (err, connection) => {
+        clearTimeout(timer);
+        cb(err, connection);
+      };
+
+      timer = setTimeout(() => {
+        spliceConnection(this._connectionQueue, wrappedCb);
+        cb(new Error('Timeout acquiring connection'));
+      }, this.config.acquireTimeout);
+
+      return this._connectionQueue.push(wrappedCb);
+    }
+
     return this._connectionQueue.push(cb);
   }
 
@@ -102,7 +120,7 @@ class Pool extends EventEmitter {
     this._closed = true;
     clearTimeout(this._removeIdleTimeoutConnectionsTimer);
     if (typeof cb !== 'function') {
-      cb = function(err) {
+      cb = function (err) {
         if (err) {
           throw err;
         }
@@ -111,7 +129,7 @@ class Pool extends EventEmitter {
     let calledBack = false;
     let closedConnections = 0;
     let connection;
-    const endCB = function(err) {
+    const endCB = function (err) {
       if (calledBack) {
         return;
       }
@@ -139,7 +157,8 @@ class Pool extends EventEmitter {
       this.config.connectionConfig
     );
     if (typeof cmdQuery.namedPlaceholders === 'undefined') {
-      cmdQuery.namedPlaceholders = this.config.connectionConfig.namedPlaceholders;
+      cmdQuery.namedPlaceholders =
+        this.config.connectionConfig.namedPlaceholders;
     }
     this.getConnection((err, conn) => {
       if (err) {
diff --git a/lib/pool_config.js b/lib/pool_config.js
index 0a4a26097f..3d8f01a5ce 100644
--- a/lib/pool_config.js
+++ b/lib/pool_config.js
@@ -15,6 +15,9 @@ class PoolConfig {
     this.connectionLimit = isNaN(options.connectionLimit)
       ? 10
       : Number(options.connectionLimit);
+    this.acquireTimeout = Number.isInteger(options.acquireTimeout) && options.acquireTimeout >= 0
+      ? options.acquireTimeout
+      : 10000;
     this.maxIdle = isNaN(options.maxIdle)
       ? this.connectionLimit
       : Number(options.maxIdle);
diff --git a/test/integration/promise-wrappers/test-promise-wrappers.test.cjs b/test/integration/promise-wrappers/test-promise-wrappers.test.cjs
index 6f3a2b1f45..53d4118b0f 100644
--- a/test/integration/promise-wrappers/test-promise-wrappers.test.cjs
+++ b/test/integration/promise-wrappers/test-promise-wrappers.test.cjs
@@ -75,6 +75,47 @@ function testErrors() {
     });
 }
 
+function testPoolAcquireTimeout() {
+  (async () => {
+    const ACQUIRE_TIMEOUT = 500;
+    const pool = createPool({
+      ...config,
+      connectionLimit: 2,
+      acquireTimeout: ACQUIRE_TIMEOUT,
+    });
+
+    const c1 = await pool.getConnection();
+
+    assert.ok(c1);
+
+    const c2 = await pool.getConnection();
+
+    assert.ok(c2);
+
+    const c3StartedAt = Date.now();
+    try {
+      await pool.getConnection();
+      assert.fail('should not reach here');
+    } catch (e) {
+      assert.equal(Date.now() - c3StartedAt >= ACQUIRE_TIMEOUT, true);
+      assert.equal(e.message, 'Timeout acquiring connection');
+    }
+
+    c2.release();
+
+    const c4 = await pool.getConnection();
+
+    c1.release();
+    c4.release();
+
+    await pool.end();
+
+    assert.ok(c4, 'acquireTimeout is working correctly');
+  })().catch((err) => {
+    assert.fail(err);
+  });
+}
+
 function testObjParams() {
   let connResolved;
   createConnection(config)
@@ -473,6 +514,7 @@ testChangeUser();
 testConnectionProperties();
 testPoolConnectionDestroy();
 testPromiseLibrary();
+testPoolAcquireTimeout();
 
 process.on('exit', () => {
   assert.equal(doneCalled, true, 'done not called');
diff --git a/test/integration/test-pool-acquire-timeout.test.cjs b/test/integration/test-pool-acquire-timeout.test.cjs
new file mode 100644
index 0000000000..c4e89189c3
--- /dev/null
+++ b/test/integration/test-pool-acquire-timeout.test.cjs
@@ -0,0 +1,50 @@
+'use strict';
+
+const mysql = require('../..');
+const assert = require('assert');
+const common = require('../common.test.cjs');
+
+const poolConfig = common.getConfig();
+
+const ACQUIRE_TIMEOUT = 500;
+const pool = new mysql.createPool({
+  ...poolConfig,
+  acquireTimeout: ACQUIRE_TIMEOUT,
+  connectionLimit: 2,
+});
+
+pool.getConnection((err, c1) => {
+  assert.equal(!!c1, true);
+  assert.ifError(err);
+
+  pool.getConnection((err, c2) => {
+    assert.ifError(err);
+    assert.equal(!!c2, true);
+
+    const C3_STARTED_AT = Date.now();
+
+    pool.getConnection((e3, c3) => {
+      const C3_DONE_AT = Date.now();
+      assert.equal(C3_DONE_AT - C3_STARTED_AT >= ACQUIRE_TIMEOUT, true);
+      assert.equal(C3_DONE_AT - C3_STARTED_AT < ACQUIRE_TIMEOUT * 2, true);
+
+      assert.notEqual(e3, null);
+      assert.equal(
+        e3.message,
+        'Timeout acquiring connection',
+        'Acquire timeout error message is correct',
+      );
+      assert.equal(!c3, true);
+      c1.release();
+
+      pool.getConnection((e4, c4) => {
+        assert.equal(e4, null);
+        assert.equal(!!c4, true);
+
+        c4.release();
+        c2.release();
+        pool.end();
+      });
+    });
+  });
+});
diff --git a/typings/mysql/lib/Pool.d.ts b/typings/mysql/lib/Pool.d.ts
index 042495e71f..575c5200db 100644
--- a/typings/mysql/lib/Pool.d.ts
+++ b/typings/mysql/lib/Pool.d.ts
@@ -22,6 +22,13 @@ export interface PoolOptions extends ConnectionOptions {
    */
   connectionLimit?: number;
 
+  /**
+   * The maximum time (in milliseconds) to wait for getting a connection from the pool. (Default: 10 seconds)
+   *
+   * @default 10000
+   */
+  acquireTimeout?: number;
+
   /**
    * The maximum number of idle connections. (Default: same as `connectionLimit`)
    */