diff --git a/src/internal.c b/src/internal.c
index 153a746fb..2397e5b00 100644
--- a/src/internal.c
+++ b/src/internal.c
@@ -22799,7 +22799,12 @@ default:
                                 return ZERO_RETURN;
                             }
 #endif /* WOLFSSL_EARLY_DATA */
-
+                            if (ret == 0 ||
+                                ret == WC_NO_ERR_TRACE(WC_PENDING_E)) {
+                                /* Reset timeout as we have received a valid
+                                 * DTLS handshake message */
+                                ssl->dtls_timeout = ssl->dtls_timeout_init;
+                            }
                         }
 #endif /* WOLFSSL_DTLS13 */
                     }
diff --git a/tests/api.c b/tests/api.c
index 252e16182..58957793a 100644
--- a/tests/api.c
+++ b/tests/api.c
@@ -51407,6 +51407,7 @@ TEST_DECL(test_wc_RsaPSS_DigitalSignVerify),
     TEST_DECL(test_dtls_bogus_finished_epoch_zero),
     TEST_DECL(test_dtls_replay),
     TEST_DECL(test_dtls_srtp),
+    TEST_DECL(test_dtls_timeout),
     TEST_DECL(test_dtls13_ack_order),
     TEST_DECL(test_dtls_version_checking),
     TEST_DECL(test_ocsp_status_callback),
diff --git a/tests/api/test_dtls.c b/tests/api/test_dtls.c
index 9d7d2b0f2..1287a2c8f 100644
--- a/tests/api/test_dtls.c
+++ b/tests/api/test_dtls.c
@@ -1637,3 +1637,62 @@ int test_dtls_srtp(void)
     return EXPECT_RESULT();
 }
 #endif
+
+int test_dtls_timeout(void)
+{
+    EXPECT_DECLS;
+#if defined(HAVE_MANUAL_MEMIO_TESTS_DEPENDENCIES) && defined(WOLFSSL_DTLS)
+    size_t i;
+    struct {
+        method_provider client_meth;
+        method_provider server_meth;
+    } params[] = {
+#if defined(WOLFSSL_TLS13) && defined(WOLFSSL_DTLS13)
+        { wolfDTLSv1_3_client_method, wolfDTLSv1_3_server_method },
+#endif
+#if !defined(WOLFSSL_NO_TLS12) && defined(WOLFSSL_DTLS)
+        { wolfDTLSv1_2_client_method, wolfDTLSv1_2_server_method },
+#endif
+#if !defined(NO_OLD_TLS) && defined(WOLFSSL_DTLS)
+        { wolfDTLSv1_client_method, wolfDTLSv1_server_method },
+#endif
+    };
+
+    for (i = 0; i < XELEM_CNT(params) && !EXPECT_FAIL(); i++) {
+        WOLFSSL_CTX *ctx_c = NULL, *ctx_s = NULL;
+        WOLFSSL *ssl_c = NULL, *ssl_s = NULL;
+        struct test_memio_ctx test_ctx;
+
+        XMEMSET(&test_ctx, 0, sizeof(test_ctx));
+
+        ExpectIntEQ(test_memio_setup(&test_ctx, &ctx_c, &ctx_s, &ssl_c, &ssl_s,
+                params[i].client_meth, params[i].server_meth), 0);
+        ExpectIntEQ(wolfSSL_dtls_set_timeout_max(ssl_c, 2), WOLFSSL_SUCCESS);
+        ExpectIntEQ(wolfSSL_negotiate(ssl_c), -1);
+        ExpectIntEQ(wolfSSL_get_error(ssl_c, -1), WOLFSSL_ERROR_WANT_READ);
+#if defined(WOLFSSL_TLS13) && defined(WOLFSSL_DTLS13)
+        /* will return 0 when not 1.3 */
+        if (wolfSSL_dtls13_use_quick_timeout(ssl_c))
+            ExpectIntEQ(wolfSSL_dtls_got_timeout(ssl_c), WOLFSSL_SUCCESS);
+#endif
+        ExpectIntEQ(wolfSSL_dtls_got_timeout(ssl_c), WOLFSSL_SUCCESS);
+        ExpectIntEQ(wolfSSL_negotiate(ssl_s), -1);
+        ExpectIntEQ(wolfSSL_get_error(ssl_s, -1), WOLFSSL_ERROR_WANT_READ);
+        ExpectIntEQ(wolfSSL_negotiate(ssl_c), -1);
+        ExpectIntEQ(wolfSSL_get_error(ssl_c, -1), WOLFSSL_ERROR_WANT_READ);
+#if defined(WOLFSSL_TLS13) && defined(WOLFSSL_DTLS13)
+        /* will return 0 when not 1.3 */
+        if (wolfSSL_dtls13_use_quick_timeout(ssl_c))
+            ExpectIntEQ(wolfSSL_dtls_got_timeout(ssl_c), WOLFSSL_SUCCESS);
+#endif
+        ExpectIntEQ(wolfSSL_dtls_got_timeout(ssl_c), WOLFSSL_SUCCESS);
+        ExpectIntEQ(test_memio_do_handshake(ssl_c, ssl_s, 10, NULL), 0);
+
+        wolfSSL_free(ssl_s);
+        wolfSSL_free(ssl_c);
+        wolfSSL_CTX_free(ctx_s);
+        wolfSSL_CTX_free(ctx_c);
+    }
+#endif
+    return EXPECT_RESULT();
+}
diff --git a/tests/api/test_dtls.h b/tests/api/test_dtls.h
index caff1a19b..2532e472e 100644
--- a/tests/api/test_dtls.h
+++ b/tests/api/test_dtls.h
@@ -41,4 +41,5 @@ int test_dtls_drop_client_ack(void);
 int test_dtls_bogus_finished_epoch_zero(void);
 int test_dtls_replay(void);
 int test_dtls_srtp(void);
+int test_dtls_timeout(void);
 #endif /* TESTS_API_DTLS_H */