diff --git a/executor/adapter.go b/executor/adapter.go
index 0568c1cd8bf81..b2f69f23afb4c 100644
--- a/executor/adapter.go
+++ b/executor/adapter.go
@@ -536,7 +536,7 @@ func (a *ExecStmt) handlePessimisticDML(ctx context.Context, e Executor) error {
 			return nil
 		}
 		forUpdateTS := txnCtx.GetForUpdateTS()
-		err = txn.LockKeys(ctx, &sctx.GetSessionVars().Killed, forUpdateTS, kv.LockAlwaysWait, keys...)
+		err = txn.LockKeys(ctx, &sctx.GetSessionVars().Killed, forUpdateTS, sctx.GetSessionVars().LockWaitTimeout, keys...)
 		if err == nil {
 			return nil
 		}
diff --git a/executor/executor.go b/executor/executor.go
index ed9f9ed9a4282..482119db8e0a9 100644
--- a/executor/executor.go
+++ b/executor/executor.go
@@ -815,7 +815,7 @@ func (e *SelectLockExec) Next(ctx context.Context, req *chunk.Chunk) error {
 		}
 		return nil
 	}
-	var lockWaitTime = kv.LockAlwaysWait
+	lockWaitTime := e.ctx.GetSessionVars().LockWaitTimeout
 	if e.Lock == ast.SelectLockForUpdateNoWait {
 		lockWaitTime = kv.LockNoWait
 	}
diff --git a/planner/core/point_get_plan.go b/planner/core/point_get_plan.go
index a7270e97d6904..fdb2984e1c1a2 100644
--- a/planner/core/point_get_plan.go
+++ b/planner/core/point_get_plan.go
@@ -262,7 +262,7 @@ func TryFastPlan(ctx sessionctx.Context, node ast.Node) Plan {
 				if !sessVars.IsAutocommit() || sessVars.InTxn() {
 					fp.Lock = true
 					fp.IsForUpdate = true
-					fp.LockWaitTime = kv.LockAlwaysWait
+					fp.LockWaitTime = sessVars.LockWaitTimeout
 					if x.LockTp == ast.SelectLockForUpdateNoWait {
 						fp.LockWaitTime = kv.LockNoWait
 					}
@@ -621,7 +621,7 @@ func newPointGetPlan(ctx sessionctx.Context, dbName string, schema *expression.S
 		schema:       schema,
 		TblInfo:      tbl,
 		outputNames:  names,
-		LockWaitTime: kv.LockAlwaysWait,
+		LockWaitTime: ctx.GetSessionVars().LockWaitTimeout,
 	}
 	ctx.GetSessionVars().StmtCtx.Tables = []stmtctx.TableEntry{{DB: ctx.GetSessionVars().CurrentDB, Table: tbl.Name.L}}
 	return p
diff --git a/session/pessimistic_test.go b/session/pessimistic_test.go
index d54a9dd659e22..d31c0fc976b15 100644
--- a/session/pessimistic_test.go
+++ b/session/pessimistic_test.go
@@ -567,3 +567,91 @@ func (s *testPessimisticSuite) TestKillStopTTLManager(c *C) {
 	// This query should success rather than returning a ResolveLock error.
 	tk2.MustExec("update test_kill set c = c + 1 where id = 1")
 }
+
+func (s *testPessimisticSuite) TestInnodbLockWaitTimeout(c *C) {
+	tk := testkit.NewTestKitWithInit(c, s.store)
+	tk.MustExec("drop table if exists tk")
+	tk.MustExec("create table tk (c1 int primary key, c2 int)")
+	tk.MustExec("insert into tk values(1,1),(2,2),(3,3),(4,4),(5,5)")
+	// tk set global
+	tk.MustExec("set global innodb_lock_wait_timeout = 3")
+	tk.MustQuery(`show variables like "innodb_lock_wait_timeout"`).Check(testkit.Rows("innodb_lock_wait_timeout 50"))
+
+	tk2 := testkit.NewTestKitWithInit(c, s.store)
+	tk2.MustQuery(`show variables like "innodb_lock_wait_timeout"`).Check(testkit.Rows("innodb_lock_wait_timeout 3"))
+	tk2.MustExec("set innodb_lock_wait_timeout = 2")
+	tk2.MustQuery(`show variables like "innodb_lock_wait_timeout"`).Check(testkit.Rows("innodb_lock_wait_timeout 2"))
+
+	tk3 := testkit.NewTestKitWithInit(c, s.store)
+	tk3.MustQuery(`show variables like "innodb_lock_wait_timeout"`).Check(testkit.Rows("innodb_lock_wait_timeout 3"))
+	tk3.MustExec("set innodb_lock_wait_timeout = 1")
+	tk3.MustQuery(`show variables like "innodb_lock_wait_timeout"`).Check(testkit.Rows("innodb_lock_wait_timeout 1"))
+
+	tk2.MustExec("set @@autocommit = 0")
+	tk3.MustExec("set @@autocommit = 0")
+
+	tk4 := testkit.NewTestKitWithInit(c, s.store)
+	tk4.MustQuery(`show variables like "innodb_lock_wait_timeout"`).Check(testkit.Rows("innodb_lock_wait_timeout 3"))
+	tk4.MustExec("set @@autocommit = 0")
+
+	// tk2 lock c1 = 1
+	tk2.MustExec("begin pessimistic")
+	tk2.MustExec("select * from tk where c1 = 1 for update") // lock succ c1 = 1
+
+	// tk3 try lock c1 = 1 timeout 1sec
+	tk3.MustExec("begin pessimistic")
+	start := time.Now()
+	_, err := tk3.Exec("select * from tk where c1 = 1 for update")
+	c.Check(time.Since(start), GreaterEqual, time.Duration(1000*time.Millisecond))
+	c.Check(time.Since(start), LessEqual, time.Duration(1100*time.Millisecond)) // unit test diff should not be too big
+	c.Check(err.Error(), Equals, tikv.ErrLockWaitTimeout.Error())
+
+	tk4.MustExec("begin pessimistic")
+	tk4.MustExec("update tk set c2 = c2 + 1 where c1 = 2") // lock succ c1 = 2 by update
+	start = time.Now()
+	_, err = tk2.Exec("update tk set c2 = c2 - 1 where c1 = 2")
+	c.Check(time.Since(start), GreaterEqual, time.Duration(2000*time.Millisecond))
+	c.Check(time.Since(start), LessEqual, time.Duration(2100*time.Millisecond)) // unit test diff should not be too big
+	c.Check(err.Error(), Equals, tikv.ErrLockWaitTimeout.Error())
+
+	tk2.MustExec("set innodb_lock_wait_timeout = 1")
+	tk2.MustQuery(`show variables like "innodb_lock_wait_timeout"`).Check(testkit.Rows("innodb_lock_wait_timeout 1"))
+	start = time.Now()
+	_, err = tk2.Exec("delete from tk where c1 = 2")
+	c.Check(time.Since(start), GreaterEqual, time.Duration(1000*time.Millisecond))
+	c.Check(time.Since(start), LessEqual, time.Duration(1100*time.Millisecond)) // unit test diff should not be too big
+	c.Check(err.Error(), Equals, tikv.ErrLockWaitTimeout.Error())
+
+	tk2.MustExec("commit")
+	tk3.MustExec("commit")
+	tk4.MustExec("commit")
+
+	tk.MustQuery(`show variables like "innodb_lock_wait_timeout"`).Check(testkit.Rows("innodb_lock_wait_timeout 50"))
+	tk.MustQuery(`select * from tk where c1 = 2`).Check(testkit.Rows("2 3")) // tk4 update commit work, tk2 delete should be rollbacked
+
+	// test stmtRollBack caused by timeout but not the whole transaction
+	tk2.MustExec("begin pessimistic")
+	tk2.MustExec("update tk set c2 = c2 + 2 where c1 = 2")                    // tk2 lock succ c1 = 2 by update
+	tk2.MustQuery(`select * from tk where c1 = 2`).Check(testkit.Rows("2 5")) // tk2 update c2 succ
+
+	tk3.MustExec("begin pessimistic")
+	tk3.MustExec("select * from tk where c1 = 3 for update") // tk3  lock c1 = 3 succ
+
+	start = time.Now()
+	_, err = tk2.Exec("delete from tk where c1 = 3") // tk2 tries to lock c1 = 3 fail, this delete should be rollback, but previous update should be keeped
+	c.Check(time.Since(start), GreaterEqual, time.Duration(1000*time.Millisecond))
+	c.Check(time.Since(start), LessEqual, time.Duration(1100*time.Millisecond)) // unit test diff should not be too big
+	c.Check(err.Error(), Equals, tikv.ErrLockWaitTimeout.Error())
+
+	tk2.MustExec("commit")
+	tk3.MustExec("commit")
+
+	tk.MustQuery(`select * from tk where c1 = 1`).Check(testkit.Rows("1 1"))
+	tk.MustQuery(`select * from tk where c1 = 2`).Check(testkit.Rows("2 5")) // tk2 update succ
+	tk.MustQuery(`select * from tk where c1 = 3`).Check(testkit.Rows("3 3")) // tk2 delete should fail
+	tk.MustQuery(`select * from tk where c1 = 4`).Check(testkit.Rows("4 4"))
+	tk.MustQuery(`select * from tk where c1 = 5`).Check(testkit.Rows("5 5"))
+
+	// clean
+	tk.MustExec("drop table if exists tk")
+}
diff --git a/session/session.go b/session/session.go
index e7775c4949f43..3bb83e2ac2f10 100644
--- a/session/session.go
+++ b/session/session.go
@@ -1793,6 +1793,7 @@ var builtinGlobalVariable = []string{
 	variable.CollationServer,
 	variable.NetWriteTimeout,
 	variable.MaxExecutionTime,
+	variable.InnodbLockWaitTimeout,
 
 	/* TiDB specific global variables: */
 	variable.TiDBSkipUTF8Check,
diff --git a/sessionctx/variable/session.go b/sessionctx/variable/session.go
index cdf3fd7b8d882..9f04af1451ead 100644
--- a/sessionctx/variable/session.go
+++ b/sessionctx/variable/session.go
@@ -447,6 +447,10 @@ type SessionVars struct {
 	isolationReadEngines map[kv.StoreType]struct{}
 
 	PlannerSelectBlockAsName []ast.HintTable
+
+	// LockWaitTimeout is the duration waiting for pessimistic lock in milliseconds
+	// negative value means nowait, 0 means default behavior, others means actual wait time
+	LockWaitTimeout int64
 }
 
 // PreparedParams contains the parameters of the current prepared statement when executing it.
@@ -524,6 +528,7 @@ func NewSessionVars() *SessionVars {
 		AllowRemoveAutoInc:          DefTiDBAllowRemoveAutoInc,
 		UsePlanBaselines:            DefTiDBUsePlanBaselines,
 		isolationReadEngines:        map[kv.StoreType]struct{}{kv.TiKV: {}, kv.TiFlash: {}},
+		LockWaitTimeout:             DefInnodbLockWaitTimeout * 1000,
 	}
 	vars.Concurrency = Concurrency{
 		IndexLookupConcurrency:     DefIndexLookupConcurrency,
@@ -812,6 +817,9 @@ func (s *SessionVars) SetSystemVar(name string, val string) error {
 	case MaxExecutionTime:
 		timeoutMS := tidbOptPositiveInt32(val, 0)
 		s.MaxExecutionTime = uint64(timeoutMS)
+	case InnodbLockWaitTimeout:
+		lockWaitSec := tidbOptInt64(val, DefInnodbLockWaitTimeout)
+		s.LockWaitTimeout = int64(lockWaitSec * 1000)
 	case TiDBSkipUTF8Check:
 		s.SkipUTF8Check = TiDBOptOn(val)
 	case TiDBOptAggPushDown:
diff --git a/sessionctx/variable/sysvar.go b/sessionctx/variable/sysvar.go
index e16cc14d3df73..6614ca9f38ee3 100644
--- a/sessionctx/variable/sysvar.go
+++ b/sessionctx/variable/sysvar.go
@@ -570,7 +570,7 @@ var defaultSysVars = []*SysVar{
 	{ScopeNone, "basedir", "/usr/local/mysql"},
 	{ScopeGlobal, "innodb_old_blocks_time", "1000"},
 	{ScopeGlobal, "innodb_stats_method", "nulls_equal"},
-	{ScopeGlobal | ScopeSession, InnodbLockWaitTimeout, "50"},
+	{ScopeGlobal | ScopeSession, InnodbLockWaitTimeout, strconv.FormatInt(DefInnodbLockWaitTimeout, 10)},
 	{ScopeGlobal, LocalInFile, "1"},
 	{ScopeGlobal | ScopeSession, "myisam_stats_method", "nulls_unequal"},
 	{ScopeNone, "version_compile_os", "osx10.8"},
diff --git a/sessionctx/variable/tidb_vars.go b/sessionctx/variable/tidb_vars.go
index 54265be1e8e68..f44774bc67e7b 100644
--- a/sessionctx/variable/tidb_vars.go
+++ b/sessionctx/variable/tidb_vars.go
@@ -413,6 +413,7 @@ const (
 	DefTiDBEnableNoopFuncs             = false
 	DefTiDBAllowRemoveAutoInc          = false
 	DefTiDBUsePlanBaselines            = true
+	DefInnodbLockWaitTimeout           = 50 // 50s
 )
 
 // Process global variables.
diff --git a/store/tikv/2pc.go b/store/tikv/2pc.go
index 9391ade5b5c2c..e623821139829 100644
--- a/store/tikv/2pc.go
+++ b/store/tikv/2pc.go
@@ -676,7 +676,17 @@ func (action actionPessimisticLock) handleSingleBatch(c *twoPhaseCommitter, bo *
 		IsFirstLock:  c.isFirstLock,
 		WaitTimeout:  action.lockWaitTime,
 	}, pb.Context{Priority: c.priority, SyncLog: c.syncLog})
+	lockWaitStartTime := time.Now()
 	for {
+		// if lockWaitTime set, refine the request `WaitTimeout` field based on timeout limit
+		if action.lockWaitTime > 0 {
+			timeLeft := action.lockWaitTime - (time.Since(lockWaitStartTime)).Milliseconds()
+			if timeLeft <= 0 {
+				req.PessimisticLock().WaitTimeout = kv.LockNoWait
+			} else {
+				req.PessimisticLock().WaitTimeout = timeLeft
+			}
+		}
 		resp, err := c.store.SendReq(bo, req, batch.region, readTimeoutShort)
 		if err != nil {
 			return errors.Trace(err)
@@ -726,15 +736,28 @@ func (action actionPessimisticLock) handleSingleBatch(c *twoPhaseCommitter, bo *
 			// if the lock left behind whose related txn is already committed or rollbacked,
 			// (eg secondary locks not committed or rollbacked yet)
 			// we cant return "nowait conflict" directly
-			if action.lockWaitTime == kv.LockNoWait && lock.LockType == pb.Op_PessimisticLock {
-				// the pessimistic lock found could be lock left behind(timeout but not recycled yet)
-				if !c.store.oracle.IsExpired(lock.TxnID, lock.TTL) {
-					return ErrLockAcquireFailAndNoWaitSet
+			if lock.LockType == pb.Op_PessimisticLock {
+				if action.lockWaitTime == kv.LockNoWait {
+					// the pessimistic lock found could be invalid locks which is timeout but not recycled yet
+					if !c.store.oracle.IsExpired(lock.TxnID, lock.TTL) {
+						return ErrLockAcquireFailAndNoWaitSet
+					}
+				} else if action.lockWaitTime == kv.LockAlwaysWait {
+					// do nothing but keep wait
+				} else {
+					// the lockWaitTime is set, check the lock wait timeout or not
+					// the pessimistic lock found could be invalid locks which is timeout but not recycled yet
+					if !c.store.oracle.IsExpired(lock.TxnID, lock.TTL) {
+						if time.Since(lockWaitStartTime).Milliseconds() >= action.lockWaitTime {
+							return ErrLockWaitTimeout
+						}
+					}
 				}
 			}
 			locks = append(locks, lock)
 		}
 		// Because we already waited on tikv, no need to Backoff here.
+		// tikv default will wait 3s(also the maximum wait value) when lock error occurs
 		_, err = c.store.lockResolver.ResolveLocks(bo, c.startTS, locks)
 		if err != nil {
 			return errors.Trace(err)
diff --git a/store/tikv/error.go b/store/tikv/error.go
index 30879aa85b9e7..cc5118ce112e2 100644
--- a/store/tikv/error.go
+++ b/store/tikv/error.go
@@ -40,6 +40,7 @@ var (
 	ErrGCTooEarly                  = terror.ClassTiKV.New(mysql.ErrGCTooEarly, mysql.MySQLErrName[mysql.ErrGCTooEarly])
 	ErrQueryInterrupted            = terror.ClassTiKV.New(mysql.ErrQueryInterrupted, mysql.MySQLErrName[mysql.ErrQueryInterrupted])
 	ErrLockAcquireFailAndNoWaitSet = terror.ClassTiKV.New(mysql.ErrLockAcquireFailAndNoWaitSet, mysql.MySQLErrName[mysql.ErrLockAcquireFailAndNoWaitSet])
+	ErrLockWaitTimeout             = terror.ClassTiKV.New(mysql.ErrLockWaitTimeout, mysql.MySQLErrName[mysql.ErrLockWaitTimeout])
 )
 
 // ErrDeadlock wraps *kvrpcpb.Deadlock to implement the error interface.
@@ -64,6 +65,7 @@ func init() {
 		mysql.ErrTruncatedWrongValue:         mysql.ErrTruncatedWrongValue,
 		mysql.ErrQueryInterrupted:            mysql.ErrQueryInterrupted,
 		mysql.ErrLockAcquireFailAndNoWaitSet: mysql.ErrLockAcquireFailAndNoWaitSet,
+		mysql.ErrLockWaitTimeout:             mysql.ErrLockWaitTimeout,
 	}
 	terror.ErrClassToMySQLCodes[terror.ClassTiKV] = tikvMySQLErrCodes
 }