diff --git a/internal/transport/http2_server.go b/internal/transport/http2_server.go
index 227608c7f21..0956b500c18 100644
--- a/internal/transport/http2_server.go
+++ b/internal/transport/http2_server.go
@@ -36,6 +36,7 @@ import (
 	"golang.org/x/net/http2"
 	"golang.org/x/net/http2/hpack"
 	"google.golang.org/grpc/internal/grpcutil"
+	"google.golang.org/grpc/internal/syscall"
 
 	"google.golang.org/grpc/codes"
 	"google.golang.org/grpc/credentials"
@@ -231,6 +232,11 @@ func NewServerTransport(conn net.Conn, config *ServerConfig) (_ ServerTransport,
 	if kp.Timeout == 0 {
 		kp.Timeout = defaultServerKeepaliveTimeout
 	}
+	if kp.Time != infinity {
+		if err = syscall.SetTCPUserTimeout(conn, kp.Timeout); err != nil {
+			return nil, connectionErrorf(false, err, "transport: failed to set TCP_USER_TIMEOUT: %v", err)
+		}
+	}
 	kep := config.KeepalivePolicy
 	if kep.MinTime == 0 {
 		kep.MinTime = defaultKeepalivePolicyMinTime
diff --git a/internal/transport/keepalive_test.go b/internal/transport/keepalive_test.go
index 4f5a2bed622..41395216fe4 100644
--- a/internal/transport/keepalive_test.go
+++ b/internal/transport/keepalive_test.go
@@ -645,19 +645,28 @@ func (s) TestKeepaliveServerEnforcementWithDormantKeepaliveOnClient(t *testing.T
 // the keepalive timeout, as detailed in proposal A18.
 func (s) TestTCPUserTimeout(t *testing.T) {
 	tests := []struct {
-		time        time.Duration
-		timeout     time.Duration
-		wantTimeout time.Duration
+		time              time.Duration
+		timeout           time.Duration
+		clientWantTimeout time.Duration
+		serverWantTimeout time.Duration
 	}{
 		{
 			10 * time.Second,
 			10 * time.Second,
 			10 * 1000 * time.Millisecond,
+			10 * 1000 * time.Millisecond,
 		},
 		{
 			0,
 			0,
 			0,
+			20 * 1000 * time.Millisecond,
+		},
+		{
+			infinity,
+			infinity,
+			0,
+			0,
 		},
 	}
 	for _, tt := range tests {
@@ -666,7 +675,7 @@ func (s) TestTCPUserTimeout(t *testing.T) {
 			0,
 			&ServerConfig{
 				KeepaliveParams: keepalive.ServerParameters{
-					Time:    tt.timeout,
+					Time:    tt.time,
 					Timeout: tt.timeout,
 				},
 			},
@@ -684,6 +693,26 @@ func (s) TestTCPUserTimeout(t *testing.T) {
 			cancel()
 		}()
 
+		var sc *http2Server
+		// Wait until the server transport is setup.
+		for {
+			server.mu.Lock()
+			if len(server.conns) == 0 {
+				server.mu.Unlock()
+				time.Sleep(time.Millisecond)
+				continue
+			}
+			for k := range server.conns {
+				var ok bool
+				sc, ok = k.(*http2Server)
+				if !ok {
+					t.Fatalf("Failed to convert %v to *http2Server", k)
+				}
+			}
+			server.mu.Unlock()
+			break
+		}
+
 		ctx, cancel := context.WithTimeout(context.Background(), defaultTestTimeout)
 		defer cancel()
 		stream, err := client.NewStream(ctx, &CallHdr{})
@@ -692,15 +721,23 @@ func (s) TestTCPUserTimeout(t *testing.T) {
 		}
 		client.CloseStream(stream, io.EOF)
 
-		opt, err := syscall.GetTCPUserTimeout(client.conn)
+		cltOpt, err := syscall.GetTCPUserTimeout(client.conn)
 		if err != nil {
 			t.Fatalf("syscall.GetTCPUserTimeout() failed: %v", err)
 		}
-		if opt < 0 {
+		if cltOpt < 0 {
 			t.Skipf("skipping test on unsupported environment")
 		}
-		if gotTimeout := time.Duration(opt) * time.Millisecond; gotTimeout != tt.wantTimeout {
-			t.Fatalf("syscall.GetTCPUserTimeout() = %d, want %d", gotTimeout, tt.wantTimeout)
+		if gotTimeout := time.Duration(cltOpt) * time.Millisecond; gotTimeout != tt.clientWantTimeout {
+			t.Fatalf("syscall.GetTCPUserTimeout() = %d, want %d", gotTimeout, tt.clientWantTimeout)
+		}
+
+		srvOpt, err := syscall.GetTCPUserTimeout(sc.conn)
+		if err != nil {
+			t.Fatalf("syscall.GetTCPUserTimeout() failed: %v", err)
+		}
+		if gotTimeout := time.Duration(srvOpt) * time.Millisecond; gotTimeout != tt.serverWantTimeout {
+			t.Fatalf("syscall.GetTCPUserTimeout() = %d, want %d", gotTimeout, tt.serverWantTimeout)
 		}
 	}
 }