diff --git a/doc/api/http.md b/doc/api/http.md
index ccd5e4b0bd4b30..0588d7f408f194 100644
--- a/doc/api/http.md
+++ b/doc/api/http.md
@@ -1013,9 +1013,13 @@ Limits maximum incoming headers count. If set to 0, no limit will be applied.
 ### server.setTimeout([msecs][, callback])
 <!-- YAML
 added: v0.9.12
+changes:
+  - version: REPLACEME
+    pr-url: https://github.com/nodejs/node/pull/27558
+    description: The default timeout changed from 120s to 0 (no timeout).
 -->
 
-* `msecs` {number} **Default:** `120000` (2 minutes)
+* `msecs` {number} **Default:** 0 (no timeout)
 * `callback` {Function}
 * Returns: {http.Server}
 
@@ -1026,16 +1030,20 @@ occurs.
 If there is a `'timeout'` event listener on the Server object, then it
 will be called with the timed-out socket as an argument.
 
-By default, the Server's timeout value is 2 minutes, and sockets are
-destroyed automatically if they time out. However, if a callback is assigned
-to the Server's `'timeout'` event, timeouts must be handled explicitly.
+By default, the Server does not timeout sockets. However, if a callback
+is assigned to the Server's `'timeout'` event, timeouts must be handled
+explicitly.
 
 ### server.timeout
 <!-- YAML
 added: v0.9.12
+changes:
+  - version: REPLACEME
+    pr-url: https://github.com/nodejs/node/pull/27558
+    description: The default timeout changed from 120s to 0 (no timeout).
 -->
 
-* {number} Timeout in milliseconds. **Default:** `120000` (2 minutes).
+* {number} Timeout in milliseconds. **Default:** 0 (no timeout)
 
 The number of milliseconds of inactivity before a socket is presumed
 to have timed out.
diff --git a/doc/api/http2.md b/doc/api/http2.md
index 1416c976362afe..5ba4943a4d9636 100644
--- a/doc/api/http2.md
+++ b/doc/api/http2.md
@@ -1722,11 +1722,15 @@ server.on('stream', (stream, headers, flags) => {
 #### Event: 'timeout'
 <!-- YAML
 added: v8.4.0
+changes:
+  - version: REPLACEME
+    pr-url: https://github.com/nodejs/node/pull/27558
+    description: The default timeout changed from 120s to 0 (no timeout).
 -->
 
 The `'timeout'` event is emitted when there is no activity on the Server for
 a given number of milliseconds set using `http2server.setTimeout()`.
-**Default:** 2 minutes.
+**Default:** 0 (no timeout)
 
 #### server.close([callback])
 <!-- YAML
@@ -1743,9 +1747,13 @@ consider also using [`http2session.close()`] on active sessions.
 #### server.setTimeout([msecs][, callback])
 <!-- YAML
 added: v8.4.0
+changes:
+  - version: REPLACEME
+    pr-url: https://github.com/nodejs/node/pull/27558
+    description: The default timeout changed from 120s to 0 (no timeout).
 -->
 
-* `msecs` {number} **Default:** `120000` (2 minutes)
+* `msecs` {number} **Default:** 0 (no timeout)
 * `callback` {Function}
 * Returns: {Http2Server}
 
diff --git a/lib/_http_server.js b/lib/_http_server.js
index 9f62872e8ec5e8..f7884d2626f499 100644
--- a/lib/_http_server.js
+++ b/lib/_http_server.js
@@ -315,7 +315,7 @@ function Server(options, requestListener) {
 
   this.on('connection', connectionListener);
 
-  this.timeout = 2 * 60 * 1000;
+  this.timeout = 0;
   this.keepAliveTimeout = 5000;
   this.maxHeadersCount = null;
   this.headersTimeout = 40 * 1000; // 40 seconds
diff --git a/lib/https.js b/lib/https.js
index 4e649017312a24..e1fc91fd966ad9 100644
--- a/lib/https.js
+++ b/lib/https.js
@@ -71,7 +71,7 @@ function Server(opts, requestListener) {
       conn.destroy(err);
   });
 
-  this.timeout = 2 * 60 * 1000;
+  this.timeout = 0;
   this.keepAliveTimeout = 5000;
   this.maxHeadersCount = null;
   this.headersTimeout = 40 * 1000; // 40 seconds
diff --git a/lib/internal/http2/core.js b/lib/internal/http2/core.js
index 58193b41cd3217..6ad1668c4f59b7 100644
--- a/lib/internal/http2/core.js
+++ b/lib/internal/http2/core.js
@@ -171,8 +171,6 @@ const kState = Symbol('state');
 const kType = Symbol('type');
 const kWriteGeneric = Symbol('write-generic');
 
-const kDefaultSocketTimeout = 2 * 60 * 1000;
-
 const {
   paddingBuffer,
   PADDING_BUF_FRAME_LENGTH,
@@ -2680,7 +2678,7 @@ class Http2SecureServer extends TLSServer {
     options = initializeTLSOptions(options);
     super(options, connectionListener);
     this[kOptions] = options;
-    this.timeout = kDefaultSocketTimeout;
+    this.timeout = 0;
     this.on('newListener', setupCompat);
     if (typeof requestListener === 'function')
       this.on('request', requestListener);
@@ -2702,7 +2700,7 @@ class Http2Server extends NETServer {
   constructor(options, requestListener) {
     super(connectionListener);
     this[kOptions] = initializeOptions(options);
-    this.timeout = kDefaultSocketTimeout;
+    this.timeout = 0;
     this.on('newListener', setupCompat);
     if (typeof requestListener === 'function')
       this.on('request', requestListener);
diff --git a/test/async-hooks/test-graph.http.js b/test/async-hooks/test-graph.http.js
index 55b9b055a0f050..12862467a6947e 100644
--- a/test/async-hooks/test-graph.http.js
+++ b/test/async-hooks/test-graph.http.js
@@ -43,9 +43,6 @@ process.on('exit', function() {
       { type: 'HTTPINCOMINGMESSAGE',
         id: 'httpincomingmessage:1',
         triggerAsyncId: 'tcp:2' },
-      { type: 'Timeout',
-        id: 'timeout:2',
-        triggerAsyncId: 'tcp:2' },
       { type: 'SHUTDOWNWRAP',
         id: 'shutdown:1',
         triggerAsyncId: 'tcp:2' } ]
diff --git a/test/parallel/test-child-process-http-socket-leak.js b/test/parallel/test-child-process-http-socket-leak.js
index 553a3277532b04..9b284f285c4572 100644
--- a/test/parallel/test-child-process-http-socket-leak.js
+++ b/test/parallel/test-child-process-http-socket-leak.js
@@ -46,7 +46,7 @@ server.listen(0, common.mustCall(() => {
     }, common.mustCall((res) => {
       res.on('data', () => {});
       res.on('end', common.mustCall(() => {
-        assert.strictEqual(socket[kTimeout]._idleTimeout, -1);
+        assert.strictEqual(socket[kTimeout], null);
         assert.strictEqual(socket.parser, null);
         assert.strictEqual(socket._httpMessage, null);
       }));