diff --git a/executor/executor_txn_test.go b/executor/executor_txn_test.go
index d2bd8f862830e..32bd8d738167a 100644
--- a/executor/executor_txn_test.go
+++ b/executor/executor_txn_test.go
@@ -22,6 +22,7 @@ import (
 	"testing"
 	"time"
 
+	"github.com/pingcap/failpoint"
 	"github.com/pingcap/tidb/executor"
 	"github.com/pingcap/tidb/sessionctx/binloginfo"
 	"github.com/pingcap/tidb/testkit"
@@ -798,3 +799,40 @@ func (m mockPumpClient) WriteBinlog(ctx context.Context, in *binlog.WriteBinlogR
 func (m mockPumpClient) PullBinlogs(ctx context.Context, in *binlog.PullBinlogReq, opts ...grpc.CallOption) (binlog.Pump_PullBinlogsClient, error) {
 	return nil, nil
 }
+
+func TestInnodbLockWaitTimeout(t *testing.T) {
+	store := testkit.CreateMockStore(t)
+	tk := testkit.NewTestKit(t, store)
+	tk.MustExec("use test")
+	tk.MustExec("drop table if exists t")
+	tk.MustExec("create table t (id int auto_increment, k int,c varchar(255), unique index idx(id))")
+	tk.MustExec("insert into t (k,c) values (1,'abcdefg');")
+	for i := 0; i < 8; i++ {
+		tk.MustExec("insert into t (k,c) select k,c from t;")
+	}
+	tk.MustExec("update t set k= id, c = id")
+	tk.MustExec("split table t by (0), (50), (100);")
+	tk.MustExec("split table t index idx by (0), (50), (100);")
+	require.NoError(t, failpoint.Enable("github.com/pingcap/tidb/store/mockstore/unistore/tikv/pessimisticLockReturnWriteConflict", `return(true)`))
+	defer func() {
+		require.NoError(t, failpoint.Disable("github.com/pingcap/tidb/store/mockstore/unistore/tikv/pessimisticLockReturnWriteConflict"))
+	}()
+	tk.MustExec("set @@innodb_lock_wait_timeout=1")
+	isolations := []string{"REPEATABLE READ", "READ COMMITTED"}
+	for _, isolation := range isolations {
+		tk.MustExec("SET SESSION TRANSACTION ISOLATION LEVEL " + isolation)
+		tk.MustExec("begin")
+		start := time.Now()
+		ctx, cancel := context.WithTimeout(context.Background(), time.Second*5)
+		res, err := tk.ExecWithContext(ctx, "update t use index (idx) set k=k+1 where id >0;")
+		cancel()
+		if res != nil {
+			require.NoError(t, res.Close())
+		}
+		require.Error(t, err)
+		msg := fmt.Sprintf("cost: %v", time.Since(start))
+		require.Equal(t, "lock wait timeout", err.Error(), msg)
+		require.Less(t, time.Since(start), time.Second*2)
+		tk.MustExec("commit")
+	}
+}
diff --git a/sessiontxn/isolation/readcommitted.go b/sessiontxn/isolation/readcommitted.go
index 510f6b407c9a7..ee8e89df798f2 100644
--- a/sessiontxn/isolation/readcommitted.go
+++ b/sessiontxn/isolation/readcommitted.go
@@ -230,6 +230,11 @@ func (p *PessimisticRCTxnContextProvider) handleAfterPessimisticLockError(ctx co
 			return sessiontxn.ErrorAction(err)
 		}
 	} else if terror.ErrorEqual(kv.ErrWriteConflict, lockErr) {
+		sessVars := p.sctx.GetSessionVars()
+		waitTime := time.Since(sessVars.StmtCtx.GetLockWaitStartTime())
+		if waitTime.Milliseconds() >= sessVars.LockWaitTimeout {
+			return sessiontxn.ErrorAction(tikverr.ErrLockWaitTimeout)
+		}
 		logutil.Logger(p.ctx).Debug("pessimistic write conflict, retry statement",
 			zap.Uint64("txn", txnCtx.StartTS),
 			zap.Uint64("forUpdateTS", txnCtx.GetForUpdateTS()),
diff --git a/sessiontxn/isolation/repeatable_read.go b/sessiontxn/isolation/repeatable_read.go
index e64a066d47d89..33003e198e773 100644
--- a/sessiontxn/isolation/repeatable_read.go
+++ b/sessiontxn/isolation/repeatable_read.go
@@ -257,6 +257,11 @@ func (p *PessimisticRRTxnContextProvider) handleAfterPessimisticLockError(ctx co
 			return sessiontxn.ErrorAction(err)
 		}
 	} else if terror.ErrorEqual(kv.ErrWriteConflict, lockErr) {
+		waitTime := time.Since(sessVars.StmtCtx.GetLockWaitStartTime())
+		if waitTime.Milliseconds() >= sessVars.LockWaitTimeout {
+			return sessiontxn.ErrorAction(tikverr.ErrLockWaitTimeout)
+		}
+
 		// Always update forUpdateTS by getting a new timestamp from PD.
 		// If we use the conflict commitTS as the new forUpdateTS and async commit
 		// is used, the commitTS of this transaction may exceed the max timestamp
diff --git a/store/mockstore/unistore/tikv/BUILD.bazel b/store/mockstore/unistore/tikv/BUILD.bazel
index 52578cacbc78a..9ccbe11969142 100644
--- a/store/mockstore/unistore/tikv/BUILD.bazel
+++ b/store/mockstore/unistore/tikv/BUILD.bazel
@@ -41,6 +41,7 @@ go_library(
         "@com_github_pingcap_badger//:badger",
         "@com_github_pingcap_badger//y",
         "@com_github_pingcap_errors//:errors",
+        "@com_github_pingcap_failpoint//:failpoint",
         "@com_github_pingcap_kvproto//pkg/coprocessor",
         "@com_github_pingcap_kvproto//pkg/deadlock",
         "@com_github_pingcap_kvproto//pkg/errorpb",
diff --git a/store/mockstore/unistore/tikv/server.go b/store/mockstore/unistore/tikv/server.go
index bf8eb592dbae8..afe7647784348 100644
--- a/store/mockstore/unistore/tikv/server.go
+++ b/store/mockstore/unistore/tikv/server.go
@@ -21,6 +21,7 @@ import (
 	"time"
 
 	"github.com/pingcap/errors"
+	"github.com/pingcap/failpoint"
 	"github.com/pingcap/kvproto/pkg/coprocessor"
 	deadlockPb "github.com/pingcap/kvproto/pkg/deadlock"
 	"github.com/pingcap/kvproto/pkg/errorpb"
@@ -193,6 +194,18 @@ func (svr *Server) KvScan(ctx context.Context, req *kvrpcpb.ScanRequest) (*kvrpc
 
 // KvPessimisticLock implements the tikvpb.TikvServer interface.
 func (svr *Server) KvPessimisticLock(ctx context.Context, req *kvrpcpb.PessimisticLockRequest) (*kvrpcpb.PessimisticLockResponse, error) {
+	failpoint.Inject("pessimisticLockReturnWriteConflict", func(val failpoint.Value) {
+		if val.(bool) {
+			time.Sleep(time.Millisecond * 100)
+			err := &kverrors.ErrConflict{
+				StartTS:          req.GetForUpdateTs(),
+				ConflictTS:       req.GetForUpdateTs() + 1,
+				ConflictCommitTS: req.GetForUpdateTs() + 2,
+			}
+			failpoint.Return(&kvrpcpb.PessimisticLockResponse{Errors: []*kvrpcpb.KeyError{convertToKeyError(err)}}, nil)
+		}
+	})
+
 	reqCtx, err := newRequestCtx(svr, req.Context, "PessimisticLock")
 	if err != nil {
 		return &kvrpcpb.PessimisticLockResponse{Errors: []*kvrpcpb.KeyError{convertToKeyError(err)}}, nil