diff --git a/.document b/.document
index 5494bcc7fe..ec2fa09326 100644
--- a/.document
+++ b/.document
@@ -24,6 +24,7 @@ pack.rb
 ractor.rb
 string.rb
 timev.rb
+thread_sync.rb
 trace_point.rb
 warning.rb
 
diff --git a/common.mk b/common.mk
index aeb87dfb55..4c49690e4a 100644
--- a/common.mk
+++ b/common.mk
@@ -1062,6 +1062,7 @@ BUILTIN_RB_SRCS = \
 		$(srcdir)/kernel.rb \
 		$(srcdir)/ractor.rb \
 		$(srcdir)/timev.rb \
+		$(srcdir)/thread_sync.rb \
 		$(srcdir)/nilclass.rb \
 		$(srcdir)/prelude.rb \
 		$(srcdir)/gem_prelude.rb \
@@ -9447,6 +9448,7 @@ miniinit.$(OBJEXT): {$(VPATH)}st.h
 miniinit.$(OBJEXT): {$(VPATH)}subst.h
 miniinit.$(OBJEXT): {$(VPATH)}thread_$(THREAD_MODEL).h
 miniinit.$(OBJEXT): {$(VPATH)}thread_native.h
+miniinit.$(OBJEXT): {$(VPATH)}thread_sync.rb
 miniinit.$(OBJEXT): {$(VPATH)}timev.rb
 miniinit.$(OBJEXT): {$(VPATH)}trace_point.rb
 miniinit.$(OBJEXT): {$(VPATH)}vm_core.h
@@ -15230,6 +15232,7 @@ thread.$(OBJEXT): {$(VPATH)}backward/2/limits.h
 thread.$(OBJEXT): {$(VPATH)}backward/2/long_long.h
 thread.$(OBJEXT): {$(VPATH)}backward/2/stdalign.h
 thread.$(OBJEXT): {$(VPATH)}backward/2/stdarg.h
+thread.$(OBJEXT): {$(VPATH)}builtin.h
 thread.$(OBJEXT): {$(VPATH)}config.h
 thread.$(OBJEXT): {$(VPATH)}debug.h
 thread.$(OBJEXT): {$(VPATH)}debug_counter.h
@@ -15412,6 +15415,8 @@ thread.$(OBJEXT): {$(VPATH)}thread_$(THREAD_MODEL).c
 thread.$(OBJEXT): {$(VPATH)}thread_$(THREAD_MODEL).h
 thread.$(OBJEXT): {$(VPATH)}thread_native.h
 thread.$(OBJEXT): {$(VPATH)}thread_sync.c
+thread.$(OBJEXT): {$(VPATH)}thread_sync.rb
+thread.$(OBJEXT): {$(VPATH)}thread_sync.rbinc
 thread.$(OBJEXT): {$(VPATH)}timev.h
 thread.$(OBJEXT): {$(VPATH)}vm_core.h
 thread.$(OBJEXT): {$(VPATH)}vm_debug.h
diff --git a/hrtime.h b/hrtime.h
index 4ac3d54723..80aff5deb3 100644
--- a/hrtime.h
+++ b/hrtime.h
@@ -36,6 +36,7 @@
 #define RB_HRTIME_PER_MSEC (RB_HRTIME_PER_USEC * (rb_hrtime_t)1000)
 #define RB_HRTIME_PER_SEC  (RB_HRTIME_PER_MSEC * (rb_hrtime_t)1000)
 #define RB_HRTIME_MAX      UINT64_MAX
+#define RB_HRTIME_MIN      ((rb_hrtime_t)0)
 
 /*
  * Lets try to support time travelers.  Lets assume anybody with a time machine
@@ -91,6 +92,15 @@ rb_hrtime_add(rb_hrtime_t a, rb_hrtime_t b)
     return c;
 }
 
+static inline rb_hrtime_t
+rb_hrtime_sub(rb_hrtime_t a, rb_hrtime_t b)
+{
+    if (a < b) {
+        return RB_HRTIME_MIN;
+    }
+    return a - b;
+}
+
 /*
  * convert a timeval struct to rb_hrtime_t, clamping at RB_HRTIME_MAX
  */
diff --git a/inits.c b/inits.c
index f41e88d838..22ba6d5a8c 100644
--- a/inits.c
+++ b/inits.c
@@ -98,6 +98,7 @@ rb_call_builtin_inits(void)
     BUILTIN(array);
     BUILTIN(kernel);
     BUILTIN(timev);
+    BUILTIN(thread_sync);
     BUILTIN(yjit);
     BUILTIN(nilclass);
     BUILTIN(marshal);
diff --git a/spec/ruby/shared/queue/deque.rb b/spec/ruby/shared/queue/deque.rb
index 8b755dd9b7..ed32bd29c8 100644
--- a/spec/ruby/shared/queue/deque.rb
+++ b/spec/ruby/shared/queue/deque.rb
@@ -55,6 +55,61 @@ describe :queue_deq, shared: true do
     t.join
   end
 
+  describe "with a timeout" do
+    ruby_version_is "3.2" do
+      it "returns an item if one is available in time" do
+        q = @object.call
+
+        t = Thread.new {
+          q.send(@method, timeout: 1).should == 1
+        }
+        Thread.pass until t.status == "sleep" && q.num_waiting == 1
+        q << 1
+        t.join
+      end
+
+      it "returns nil if no item is available in time" do
+        q = @object.call
+
+        t = Thread.new {
+          q.send(@method, timeout: 0.1).should == nil
+        }
+        t.join
+      end
+
+      it "does nothing if the timeout is nil" do
+        q = @object.call
+        t = Thread.new {
+          q.send(@method, timeout: nil).should == 1
+        }
+        t.join(0.2).should == nil
+        q << 1
+        t.join
+      end
+
+      it "raise TypeError if timeout is not a valid numeric" do
+        q = @object.call
+        -> { q.send(@method, timeout: "1") }.should raise_error(
+          TypeError,
+          "no implicit conversion to float from string",
+        )
+
+        -> { q.send(@method, timeout: false) }.should raise_error(
+          TypeError,
+          "no implicit conversion to float from false",
+        )
+      end
+
+      it "raise ArgumentError if non_block = true is passed too" do
+        q = @object.call
+        -> { q.send(@method, true, timeout: 1) }.should raise_error(
+          ArgumentError,
+          "can't set a timeout if non_block is enabled",
+        )
+      end
+    end
+  end
+
   describe "in non-blocking mode" do
     it "removes an item from the queue" do
       q = @object.call
diff --git a/test/ruby/test_settracefunc.rb b/test/ruby/test_settracefunc.rb
index 56d457c7d7..31946c8b71 100644
--- a/test/ruby/test_settracefunc.rb
+++ b/test/ruby/test_settracefunc.rb
@@ -2140,17 +2140,16 @@ CODE
     m2t_q.push 1
     t.join
 
-    assert_equal ["c-return", base_line + 31], events[0]
-    assert_equal ["line", base_line + 32],     events[1]
-    assert_equal ["line", base_line + 33],     events[2]
-    assert_equal ["call", base_line + -6],     events[3]
-    assert_equal ["return", base_line + -4],   events[4]
-    assert_equal ["line", base_line + 34],     events[5]
-    assert_equal ["line", base_line + 35],     events[6]
-    assert_equal ["c-call", base_line + 35],   events[7] # Thread.current
-    assert_equal ["c-return", base_line + 35], events[8] # Thread.current
-    assert_equal ["c-call", base_line + 35],   events[9] # Thread#set_trace_func
-    assert_equal nil,                          events[10]
+    assert_equal ["line", base_line + 32],     events[0]
+    assert_equal ["line", base_line + 33],     events[1]
+    assert_equal ["call", base_line + -6],     events[2]
+    assert_equal ["return", base_line + -4],   events[3]
+    assert_equal ["line", base_line + 34],     events[4]
+    assert_equal ["line", base_line + 35],     events[5]
+    assert_equal ["c-call", base_line + 35],   events[6] # Thread.current
+    assert_equal ["c-return", base_line + 35], events[7] # Thread.current
+    assert_equal ["c-call", base_line + 35],   events[8] # Thread#set_trace_func
+    assert_equal nil,                          events[9]
   end
 
   def test_lineno_in_optimized_insn
diff --git a/test/ruby/test_thread_queue.rb b/test/ruby/test_thread_queue.rb
index ebf7ded3b9..aa4ea0a400 100644
--- a/test/ruby/test_thread_queue.rb
+++ b/test/ruby/test_thread_queue.rb
@@ -111,6 +111,23 @@ class TestThreadQueue < Test::Unit::TestCase
     assert_equal(0, q.num_waiting)
   end
 
+  def test_queue_pop_timeout
+    q = Thread::Queue.new
+    q << 1
+    assert_equal 1, q.pop(timeout: 1)
+
+    t1 = Thread.new { q.pop(timeout: 1) }
+    assert_equal t1, t1.join(2)
+    assert_nil t1.value
+
+    t2 = Thread.new { q.pop(timeout: 0.1) }
+    assert_equal t2, t2.join(0.2)
+    assert_nil t2.value
+  ensure
+    t1&.kill
+    t2&.kill
+  end
+
   def test_queue_pop_non_block
     q = Thread::Queue.new
     assert_raise_with_message(ThreadError, /empty/) do
@@ -126,6 +143,24 @@ class TestThreadQueue < Test::Unit::TestCase
     assert_equal(0, q.num_waiting)
   end
 
+  def test_sized_queue_pop_timeout
+    q = Thread::SizedQueue.new(1)
+
+    q << 1
+    assert_equal 1, q.pop(timeout: 1)
+
+    t1 = Thread.new { q.pop(timeout: 1) }
+    assert_equal t1, t1.join(2)
+    assert_nil t1.value
+
+    t2 = Thread.new { q.pop(timeout: 0.1) }
+    assert_equal t2, t2.join(0.2)
+    assert_nil t2.value
+  ensure
+    t1&.kill
+    t2&.kill
+  end
+
   def test_sized_queue_pop_non_block
     q = Thread::SizedQueue.new(1)
     assert_raise_with_message(ThreadError, /empty/) do
diff --git a/thread.c b/thread.c
index 411b6d7084..feb89d4352 100644
--- a/thread.c
+++ b/thread.c
@@ -132,7 +132,7 @@ rb_thread_local_storage(VALUE thread)
 
 static int sleep_hrtime(rb_thread_t *, rb_hrtime_t, unsigned int fl);
 static void sleep_forever(rb_thread_t *th, unsigned int fl);
-static void rb_thread_sleep_deadly_allow_spurious_wakeup(VALUE blocker);
+static void rb_thread_sleep_deadly_allow_spurious_wakeup(VALUE blocker, VALUE timeout, rb_hrtime_t end);
 static int rb_threadptr_dead(rb_thread_t *th);
 static void rb_check_deadlock(rb_ractor_t *r);
 static int rb_threadptr_pending_interrupt_empty_p(const rb_thread_t *th);
@@ -1328,6 +1328,28 @@ sleep_hrtime(rb_thread_t *th, rb_hrtime_t rel, unsigned int fl)
     return woke;
 }
 
+static int
+sleep_hrtime_until(rb_thread_t *th, rb_hrtime_t end, unsigned int fl)
+{
+    enum rb_thread_status prev_status = th->status;
+    int woke;
+    rb_hrtime_t rel = rb_hrtime_sub(end, rb_hrtime_now());
+
+    th->status = THREAD_STOPPED;
+    RUBY_VM_CHECK_INTS_BLOCKING(th->ec);
+    while (th->status == THREAD_STOPPED) {
+        native_sleep(th, &rel);
+        woke = vm_check_ints_blocking(th->ec);
+        if (woke && !(fl & SLEEP_SPURIOUS_CHECK))
+            break;
+        if (hrtime_update_expire(&rel, end))
+            break;
+        woke = 1;
+    }
+    th->status = prev_status;
+    return woke;
+}
+
 void
 rb_thread_sleep_forever(void)
 {
@@ -1355,15 +1377,20 @@ rb_thread_sleep_interruptible(void)
 }
 
 static void
-rb_thread_sleep_deadly_allow_spurious_wakeup(VALUE blocker)
+rb_thread_sleep_deadly_allow_spurious_wakeup(VALUE blocker, VALUE timeout, rb_hrtime_t end)
 {
     VALUE scheduler = rb_fiber_scheduler_current();
     if (scheduler != Qnil) {
-        rb_fiber_scheduler_block(scheduler, blocker, Qnil);
+        rb_fiber_scheduler_block(scheduler, blocker, timeout);
     }
     else {
         RUBY_DEBUG_LOG("%s", "");
-        sleep_forever(GET_THREAD(), SLEEP_DEADLOCKABLE);
+        if (end) {
+            sleep_hrtime_until(GET_THREAD(), end, SLEEP_SPURIOUS_CHECK);
+        }
+        else {
+            sleep_forever(GET_THREAD(), SLEEP_DEADLOCKABLE);
+        }
     }
 }
 
diff --git a/thread_sync.c b/thread_sync.c
index 5ff36dd01d..1a0f3ee855 100644
--- a/thread_sync.c
+++ b/thread_sync.c
@@ -1,5 +1,6 @@
 /* included by thread.c */
 #include "ccan/list/list.h"
+#include "builtin.h"
 
 static VALUE rb_cMutex, rb_cQueue, rb_cSizedQueue, rb_cConditionVariable;
 static VALUE rb_eClosedQueueError;
@@ -19,6 +20,12 @@ struct sync_waiter {
     struct ccan_list_node node;
 };
 
+struct queue_sleep_arg {
+    VALUE self;
+    VALUE timeout;
+    rb_hrtime_t end;
+};
+
 #define MUTEX_ALLOW_TRAP FL_USER1
 
 static void
@@ -514,7 +521,7 @@ rb_mutex_abandon_all(rb_mutex_t *mutexes)
 static VALUE
 rb_mutex_sleep_forever(VALUE self)
 {
-    rb_thread_sleep_deadly_allow_spurious_wakeup(self);
+    rb_thread_sleep_deadly_allow_spurious_wakeup(self, Qnil, 0);
     return Qnil;
 }
 
@@ -706,6 +713,21 @@ queue_ptr(VALUE obj)
 
 #define QUEUE_CLOSED          FL_USER5
 
+static rb_hrtime_t
+queue_timeout2hrtime(VALUE timeout) {
+    if (NIL_P(timeout)) {
+        return (rb_hrtime_t)0;
+    }
+    rb_hrtime_t rel = 0;
+    if (FIXNUM_P(timeout)) {
+        rel = rb_sec2hrtime(NUM2TIMET(timeout));
+    }
+    else {
+        double2hrtime(&rel, rb_num2dbl(timeout));
+    }
+    return rb_hrtime_add(rel, rb_hrtime_now());
+}
+
 static void
 szqueue_mark(void *ptr)
 {
@@ -964,9 +986,10 @@ rb_queue_push(VALUE self, VALUE obj)
 }
 
 static VALUE
-queue_sleep(VALUE self)
+queue_sleep(VALUE _args)
 {
-    rb_thread_sleep_deadly_allow_spurious_wakeup(self);
+    struct queue_sleep_arg *args = (struct queue_sleep_arg *)_args;
+    rb_thread_sleep_deadly_allow_spurious_wakeup(args->self, args->timeout, args->end);
     return Qnil;
 }
 
@@ -1001,9 +1024,10 @@ szqueue_sleep_done(VALUE p)
 }
 
 static VALUE
-queue_do_pop(VALUE self, struct rb_queue *q, int should_block)
+queue_do_pop(VALUE self, struct rb_queue *q, int should_block, VALUE timeout)
 {
     check_array(self, q->que);
+    rb_hrtime_t end = queue_timeout2hrtime(timeout);
 
     while (RARRAY_LEN(q->que) == 0) {
         if (!should_block) {
@@ -1028,43 +1052,25 @@ queue_do_pop(VALUE self, struct rb_queue *q, int should_block)
             ccan_list_add_tail(waitq, &queue_waiter.w.node);
             queue_waiter.as.q->num_waiting++;
 
-            rb_ensure(queue_sleep, self, queue_sleep_done, (VALUE)&queue_waiter);
+            struct queue_sleep_arg queue_sleep_arg = {
+                .self = self,
+                .timeout = timeout,
+                .end = end
+            };
+
+            rb_ensure(queue_sleep, (VALUE)&queue_sleep_arg, queue_sleep_done, (VALUE)&queue_waiter);
+            if (!NIL_P(timeout) && (rb_hrtime_now() >= end))
+                break;
         }
     }
 
     return rb_ary_shift(q->que);
 }
 
-static int
-queue_pop_should_block(int argc, const VALUE *argv)
-{
-    int should_block = 1;
-    rb_check_arity(argc, 0, 1);
-    if (argc > 0) {
-        should_block = !RTEST(argv[0]);
-    }
-    return should_block;
-}
-
-/*
- * Document-method: Thread::Queue#pop
- * call-seq:
- *   pop(non_block=false)
- *   deq(non_block=false)
- *   shift(non_block=false)
- *
- * Retrieves data from the queue.
- *
- * If the queue is empty, the calling thread is suspended until data is pushed
- * onto the queue. If +non_block+ is true, the thread isn't suspended, and
- * +ThreadError+ is raised.
- */
-
 static VALUE
-rb_queue_pop(int argc, VALUE *argv, VALUE self)
+rb_queue_pop(rb_execution_context_t *ec, VALUE self, VALUE non_block, VALUE timeout)
 {
-    int should_block = queue_pop_should_block(argc, argv);
-    return queue_do_pop(self, queue_ptr(self), should_block);
+    return queue_do_pop(self, queue_ptr(self), !RTEST(non_block), timeout);
 }
 
 /*
@@ -1283,10 +1289,10 @@ rb_szqueue_push(int argc, VALUE *argv, VALUE self)
 }
 
 static VALUE
-szqueue_do_pop(VALUE self, int should_block)
+szqueue_do_pop(VALUE self, int should_block, VALUE timeout)
 {
     struct rb_szqueue *sq = szqueue_ptr(self);
-    VALUE retval = queue_do_pop(self, &sq->q, should_block);
+    VALUE retval = queue_do_pop(self, &sq->q, should_block, timeout);
 
     if (queue_length(self, &sq->q) < sq->max) {
         wakeup_one(szqueue_pushq(sq));
@@ -1294,26 +1300,10 @@ szqueue_do_pop(VALUE self, int should_block)
 
     return retval;
 }
-
-/*
- * Document-method: Thread::SizedQueue#pop
- * call-seq:
- *   pop(non_block=false)
- *   deq(non_block=false)
- *   shift(non_block=false)
- *
- * Retrieves data from the queue.
- *
- * If the queue is empty, the calling thread is suspended until data is pushed
- * onto the queue. If +non_block+ is true, the thread isn't suspended, and
- * +ThreadError+ is raised.
- */
-
 static VALUE
-rb_szqueue_pop(int argc, VALUE *argv, VALUE self)
+rb_szqueue_pop(rb_execution_context_t *ec, VALUE self, VALUE non_block, VALUE timeout)
 {
-    int should_block = queue_pop_should_block(argc, argv);
-    return szqueue_do_pop(self, should_block);
+    return szqueue_do_pop(self, !RTEST(non_block), timeout);
 }
 
 /*
@@ -1597,7 +1587,6 @@ Init_thread_sync(void)
     rb_define_method(rb_cQueue, "close", rb_queue_close, 0);
     rb_define_method(rb_cQueue, "closed?", rb_queue_closed_p, 0);
     rb_define_method(rb_cQueue, "push", rb_queue_push, 1);
-    rb_define_method(rb_cQueue, "pop", rb_queue_pop, -1);
     rb_define_method(rb_cQueue, "empty?", rb_queue_empty_p, 0);
     rb_define_method(rb_cQueue, "clear", rb_queue_clear, 0);
     rb_define_method(rb_cQueue, "length", rb_queue_length, 0);
@@ -1605,8 +1594,6 @@ Init_thread_sync(void)
 
     rb_define_alias(rb_cQueue, "enq", "push");
     rb_define_alias(rb_cQueue, "<<", "push");
-    rb_define_alias(rb_cQueue, "deq", "pop");
-    rb_define_alias(rb_cQueue, "shift", "pop");
     rb_define_alias(rb_cQueue, "size", "length");
 
     DEFINE_CLASS(SizedQueue, Queue);
@@ -1617,16 +1604,12 @@ Init_thread_sync(void)
     rb_define_method(rb_cSizedQueue, "max", rb_szqueue_max_get, 0);
     rb_define_method(rb_cSizedQueue, "max=", rb_szqueue_max_set, 1);
     rb_define_method(rb_cSizedQueue, "push", rb_szqueue_push, -1);
-    rb_define_method(rb_cSizedQueue, "pop", rb_szqueue_pop, -1);
     rb_define_method(rb_cSizedQueue, "empty?", rb_szqueue_empty_p, 0);
     rb_define_method(rb_cSizedQueue, "clear", rb_szqueue_clear, 0);
     rb_define_method(rb_cSizedQueue, "length", rb_szqueue_length, 0);
     rb_define_method(rb_cSizedQueue, "num_waiting", rb_szqueue_num_waiting, 0);
-
     rb_define_alias(rb_cSizedQueue, "enq", "push");
     rb_define_alias(rb_cSizedQueue, "<<", "push");
-    rb_define_alias(rb_cSizedQueue, "deq", "pop");
-    rb_define_alias(rb_cSizedQueue, "shift", "pop");
     rb_define_alias(rb_cSizedQueue, "size", "length");
 
     /* CVar */
@@ -1644,3 +1627,5 @@ Init_thread_sync(void)
 
     rb_provide("thread.rb");
 }
+
+#include "thread_sync.rbinc"
diff --git a/thread_sync.rb b/thread_sync.rb
new file mode 100644
index 0000000000..d567ca51af
--- /dev/null
+++ b/thread_sync.rb
@@ -0,0 +1,45 @@
+class Thread
+  class Queue
+    # call-seq:
+    #   pop(non_block=false, timeout: nil)
+    #
+    # Retrieves data from the queue.
+    #
+    # If the queue is empty, the calling thread is suspended until data is pushed
+    # onto the queue. If +non_block+ is true, the thread isn't suspended, and
+    # +ThreadError+ is raised.
+    #
+    # If +timeout+ seconds have passed and no data is available +nil+ is
+    # returned.
+    def pop(non_block = false, timeout: nil)
+      if non_block && timeout
+        raise ArgumentError, "can't set a timeout if non_block is enabled"
+      end
+      Primitive.rb_queue_pop(non_block, timeout)
+    end
+    alias_method :deq, :pop
+    alias_method :shift, :pop
+  end
+
+  class SizedQueue
+    # call-seq:
+    #   pop(non_block=false, timeout: nil)
+    #
+    # Retrieves data from the queue.
+    #
+    # If the queue is empty, the calling thread is suspended until data is
+    # pushed onto the queue. If +non_block+ is true, the thread isn't
+    # suspended, and +ThreadError+ is raised.
+    #
+    # If +timeout+ seconds have passed and no data is available +nil+ is
+    # returned.
+    def pop(non_block = false, timeout: nil)
+      if non_block && timeout
+        raise ArgumentError, "can't set a timeout if non_block is enabled"
+      end
+      Primitive.rb_szqueue_pop(non_block, timeout)
+    end
+    alias_method :deq, :pop
+    alias_method :shift, :pop
+  end
+end