diff --git a/apisix/stream/xrpc/sdk.lua b/apisix/stream/xrpc/sdk.lua
index cea2dd1b..9773cb36 100644
--- a/apisix/stream/xrpc/sdk.lua
+++ b/apisix/stream/xrpc/sdk.lua
@@ -43,12 +43,20 @@ local _M = {}
 function _M.connect_upstream(node, up_conf)
     local sk = xrpc_socket.upstream.socket()
 
+    local timeout = up_conf.timeout
+    if not timeout then
+        -- use the default timeout of Nginx proxy
+        sk:settimeouts(60 * 1000, 600 * 1000, 600 * 1000)
+    else
+        -- the timeout unit for balancer is second while the unit for cosocket is millisecond
+        sk:settimeouts(timeout.connect * 1000, timeout.send * 1000, timeout.read * 1000)
+    end
+
     local ok, err = sk:connect(node.host, node.port)
     if not ok then
         core.log.error("failed to connect: ", err)
         return nil
     end
-    -- TODO: support timeout
 
     if up_conf.scheme == "tls" then
         -- TODO: support mTLS
diff --git a/t/xrpc/apisix/stream/xrpc/protocols/pingpong/init.lua b/t/xrpc/apisix/stream/xrpc/protocols/pingpong/init.lua
index 694e5e7a..1487044f 100644
--- a/t/xrpc/apisix/stream/xrpc/protocols/pingpong/init.lua
+++ b/t/xrpc/apisix/stream/xrpc/protocols/pingpong/init.lua
@@ -177,25 +177,14 @@ function _M.connect_upstream(session, ctx)
         return DECLINED
     end
     local node = nodes[math_random(#nodes)]
-    local sk = xrpc_socket.upstream.socket()
-    sk:settimeout(1000) -- the short timeout is just for test
 
     core.log.info("connect to ", node.host, ":", node.port)
 
-    local ok, err = sk:connect(node.host, node.port)
-    if not ok then
-        core.log.error("failed to connect: ", err)
+    local sk = sdk.connect_upstream(node, conf)
+    if not sk then
         return DECLINED
     end
 
-    if conf.scheme == "tls" then
-        local ok, err = sk:sslhandshake(nil, node.host)
-        if not ok then
-            core.log.error("failed to handshake: ", err)
-            return DECLINED
-        end
-    end
-
     return OK, sk
 end
 
diff --git a/t/xrpc/pingpong.t b/t/xrpc/pingpong.t
index a264e2fc..97c192ed 100644
--- a/t/xrpc/pingpong.t
+++ b/t/xrpc/pingpong.t
@@ -212,7 +212,69 @@ failed to connect: connection refused
 
 
 
-=== TEST 8: reset
+=== TEST 8: use short timeout to check upstream's bad response
+--- config
+    location /t {
+        content_by_lua_block {
+            local t = require("lib.test_admin").test
+            local code, body = t('/apisix/admin/stream_routes/1',
+                ngx.HTTP_PUT,
+                {
+                    protocol = {
+                        name = "pingpong"
+                    },
+                    upstream = {
+                        nodes = {
+                            ["127.0.0.1:1995"] = 1
+                        },
+                        timeout = {
+                            connect = 0.01,
+                            send = 0.009,
+                            read = 0.008,
+                        },
+                        type = "roundrobin"
+                    }
+                }
+            )
+            if code >= 300 then
+                ngx.status = code
+            end
+            ngx.say(body)
+        }
+    }
+--- request
+GET /t
+--- response_body
+passed
+
+
+
+=== TEST 9: bad response
+--- request eval
+"POST /t
+" .
+"pp\x02\x00\x00\x00\x00\x00\x00\x03ABC" x 1
+--- stream_conf_enable
+--- stream_upstream_code
+    local sock = ngx.req.socket(true)
+    sock:settimeout(10)
+    while true do
+        local data = sock:receiveany(4096)
+        if not data then
+            return
+        end
+        sock:send(data:sub(5))
+    end
+--- error_log
+failed to read: timeout
+stream lua tcp socket connect timeout: 10
+lua tcp socket send timeout: 9
+stream lua tcp socket read timeout: 8
+--- log_level: debug
+
+
+
+=== TEST 10: reset
 --- config
     location /t {
         content_by_lua_block {
@@ -244,29 +306,7 @@ passed
 
 
 
-=== TEST 9: bad response
---- request eval
-"POST /t
-" .
-"pp\x02\x00\x00\x00\x00\x00\x00\x03ABC" x 1
---- stream_conf_enable
---- stream_upstream_code
-    local sock = ngx.req.socket(true)
-    sock:settimeout(1100)
-    while true do
-        local data = sock:receiveany(4096)
-        if not data then
-            return
-        end
-        sock:send(data:sub(5))
-    end
---- wait: 1.1
---- error_log
-failed to read: timeout
-
-
-
-=== TEST 10: client stream, N:N
+=== TEST 11: client stream, N:N
 --- request eval
 "POST /t
 " .
@@ -292,7 +332,7 @@ failed to read: timeout
 
 
 
-=== TEST 11: client stream, bad response
+=== TEST 12: client stream, bad response
 --- request eval
 "POST /t
 " .
@@ -321,7 +361,7 @@ RPC is not finished
 
 
 
-=== TEST 12: server stream, heartbeat
+=== TEST 13: server stream, heartbeat
 --- request eval
 "POST /t
 " .
@@ -347,7 +387,7 @@ RPC is not finished
 
 
 
-=== TEST 13: server stream
+=== TEST 14: server stream
 --- request eval
 "POST /t
 " .
@@ -370,7 +410,7 @@ RPC is not finished
 
 
 
-=== TEST 14: superior & subordinate
+=== TEST 15: superior & subordinate
 --- config
     location /t {
         content_by_lua_block {
@@ -495,7 +535,7 @@ passed
 
 
 
-=== TEST 15: hit
+=== TEST 16: hit
 --- request eval
 "POST /t
 " .
@@ -515,7 +555,7 @@ connect to 127.0.0.2:1995 while prereading client data
 
 
 
-=== TEST 16: hit (fallback to superior if not found)
+=== TEST 17: hit (fallback to superior if not found)
 --- request eval
 "POST /t
 " .
@@ -535,7 +575,7 @@ connect to 127.0.0.1:1995 while prereading client data
 
 
 
-=== TEST 17: cache router by version
+=== TEST 18: cache router by version
 --- config
     location /t {
         content_by_lua_block {
@@ -608,7 +648,7 @@ connect to 127.0.0.4:1995 while prereading client data
 
 
 
-=== TEST 18: use upstream_id
+=== TEST 19: use upstream_id
 --- config
     location /t {
         content_by_lua_block {
@@ -657,7 +697,7 @@ passed
 
 
 
-=== TEST 19: hit
+=== TEST 20: hit
 --- request eval
 "POST /t
 " .
@@ -672,7 +712,7 @@ connect to 127.0.0.3:1995 while prereading client data
 
 
 
-=== TEST 20: cache router by version, with upstream_id
+=== TEST 21: cache router by version, with upstream_id
 --- config
     location /t {
         content_by_lua_block {
diff --git a/t/xrpc/pingpong2.t b/t/xrpc/pingpong2.t
new file mode 100644
index 00000000..3c7152c5
--- /dev/null
+++ b/t/xrpc/pingpong2.t
@@ -0,0 +1,141 @@
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements.  See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership.
+# The ASF licenses this file to You under the Apache License, Version 2.0
+# (the "License"); you may not use this file except in compliance with
+# the License.  You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+use t::APISIX;
+
+my $nginx_binary = $ENV{'TEST_NGINX_BINARY'} || 'nginx';
+my $version = eval { `$nginx_binary -V 2>&1` };
+
+if ($version !~ m/\/apisix-nginx-module/) {
+    plan(skip_all => "apisix-nginx-module not installed");
+} else {
+    plan('no_plan');
+}
+
+add_block_preprocessor(sub {
+    my ($block) = @_;
+
+    if (!$block->extra_yaml_config) {
+        my $extra_yaml_config = <<_EOC_;
+xrpc:
+  protocols:
+    - name: pingpong
+_EOC_
+        $block->set_value("extra_yaml_config", $extra_yaml_config);
+    }
+
+    my $config = $block->config // <<_EOC_;
+    location /t {
+        content_by_lua_block {
+            ngx.req.read_body()
+            local sock = ngx.socket.tcp()
+            sock:settimeout(1000)
+            local ok, err = sock:connect("127.0.0.1", 1985)
+            if not ok then
+                ngx.log(ngx.ERR, "failed to connect: ", err)
+                return ngx.exit(503)
+            end
+
+            local bytes, err = sock:send(ngx.req.get_body_data())
+            if not bytes then
+                ngx.log(ngx.ERR, "send stream request error: ", err)
+                return ngx.exit(503)
+            end
+            while true do
+                local data, err = sock:receiveany(4096)
+                if not data then
+                    sock:close()
+                    break
+                end
+                ngx.print(data)
+            end
+        }
+    }
+_EOC_
+
+    $block->set_value("config", $config);
+
+    my $stream_upstream_code = $block->stream_upstream_code // <<_EOC_;
+            local sock = ngx.req.socket(true)
+            sock:settimeout(10)
+            while true do
+                local data = sock:receiveany(4096)
+                if not data then
+                    return
+                end
+                sock:send(data)
+            end
+_EOC_
+
+    $block->set_value("stream_upstream_code", $stream_upstream_code);
+
+    if ((!defined $block->error_log) && (!defined $block->no_error_log)) {
+        $block->set_value("no_error_log", "[error]\nRPC is not finished");
+    }
+
+    $block;
+});
+
+run_tests;
+
+__DATA__
+
+=== TEST 1: init
+--- config
+    location /t {
+        content_by_lua_block {
+            local t = require("lib.test_admin").test
+            local etcd = require("apisix.core.etcd")
+            local code, body = t('/apisix/admin/stream_routes/1',
+                ngx.HTTP_PUT,
+                {
+                    protocol = {
+                        name = "pingpong"
+                    },
+                    upstream = {
+                        nodes = {
+                            ["127.0.0.1:1995"] = 1
+                        },
+                        type = "roundrobin"
+                    }
+                }
+            )
+            if code >= 300 then
+                ngx.status = code
+            end
+            ngx.say(body)
+        }
+    }
+--- request
+GET /t
+--- response_body
+passed
+
+
+
+=== TEST 2: check the default timeout
+--- request eval
+"POST /t
+" .
+"pp\x02\x00\x00\x00\x00\x00\x00\x03ABC"
+--- response_body eval
+"pp\x02\x00\x00\x00\x00\x00\x00\x03ABC"
+--- error_log
+stream lua tcp socket connect timeout: 60000
+lua tcp socket send timeout: 60000
+stream lua tcp socket read timeout: 60000
+--- log_level: debug
+--- stream_conf_enable