diff --git a/pymongo/asynchronous/topology.py b/pymongo/asynchronous/topology.py
index 76f0fb6cd..f00f62ffe 100644
--- a/pymongo/asynchronous/topology.py
+++ b/pymongo/asynchronous/topology.py
@@ -41,6 +41,7 @@ from pymongo.errors import (
     OperationFailure,
     PyMongoError,
     ServerSelectionTimeoutError,
+    WaitQueueTimeoutError,
     WriteError,
 )
 from pymongo.hello import Hello
@@ -892,6 +893,8 @@ class Topology:
                 # Clear the pool.
                 await server.reset(service_id)
         elif isinstance(error, ConnectionFailure):
+            if isinstance(error, WaitQueueTimeoutError):
+                return
             # "Client MUST replace the server's description with type Unknown
             # ... MUST NOT request an immediate check of the server."
             if not self._settings.load_balanced:
diff --git a/pymongo/synchronous/topology.py b/pymongo/synchronous/topology.py
index ea0edae91..0af793a96 100644
--- a/pymongo/synchronous/topology.py
+++ b/pymongo/synchronous/topology.py
@@ -37,6 +37,7 @@ from pymongo.errors import (
     OperationFailure,
     PyMongoError,
     ServerSelectionTimeoutError,
+    WaitQueueTimeoutError,
     WriteError,
 )
 from pymongo.hello import Hello
@@ -890,6 +891,8 @@ class Topology:
                 # Clear the pool.
                 server.reset(service_id)
         elif isinstance(error, ConnectionFailure):
+            if isinstance(error, WaitQueueTimeoutError):
+                return
             # "Client MUST replace the server's description with type Unknown
             # ... MUST NOT request an immediate check of the server."
             if not self._settings.load_balanced:
diff --git a/test/asynchronous/test_client.py b/test/asynchronous/test_client.py
index f9678b11e..f529dcce1 100644
--- a/test/asynchronous/test_client.py
+++ b/test/asynchronous/test_client.py
@@ -113,6 +113,7 @@ from pymongo.errors import (
     NetworkTimeout,
     OperationFailure,
     ServerSelectionTimeoutError,
+    WaitQueueTimeoutError,
     WriteConcernError,
 )
 from pymongo.monitoring import ServerHeartbeatListener, ServerHeartbeatStartedEvent
@@ -1313,8 +1314,16 @@ class TestClient(AsyncIntegrationTest):
         self.assertAlmostEqual(30, client.options.server_selection_timeout)
 
     async def test_waitQueueTimeoutMS(self):
-        client = await self.async_rs_or_single_client(waitQueueTimeoutMS=2000)
-        self.assertEqual((await async_get_pool(client)).opts.wait_queue_timeout, 2)
+        listener = CMAPListener()
+        client = await self.async_rs_or_single_client(
+            waitQueueTimeoutMS=10, maxPoolSize=1, event_listeners=[listener]
+        )
+        pool = await async_get_pool(client)
+        self.assertEqual(pool.opts.wait_queue_timeout, 0.01)
+        async with pool.checkout():
+            with self.assertRaises(WaitQueueTimeoutError):
+                await client.test.command("ping")
+        self.assertFalse(listener.events_by_type(monitoring.PoolClearedEvent))
 
     async def test_socketKeepAlive(self):
         pool = await async_get_pool(self.client)
diff --git a/test/test_client.py b/test/test_client.py
index a34026393..e445fa632 100644
--- a/test/test_client.py
+++ b/test/test_client.py
@@ -102,6 +102,7 @@ from pymongo.errors import (
     NetworkTimeout,
     OperationFailure,
     ServerSelectionTimeoutError,
+    WaitQueueTimeoutError,
     WriteConcernError,
 )
 from pymongo.monitoring import ServerHeartbeatListener, ServerHeartbeatStartedEvent
@@ -1272,8 +1273,16 @@ class TestClient(IntegrationTest):
         self.assertAlmostEqual(30, client.options.server_selection_timeout)
 
     def test_waitQueueTimeoutMS(self):
-        client = self.rs_or_single_client(waitQueueTimeoutMS=2000)
-        self.assertEqual((get_pool(client)).opts.wait_queue_timeout, 2)
+        listener = CMAPListener()
+        client = self.rs_or_single_client(
+            waitQueueTimeoutMS=10, maxPoolSize=1, event_listeners=[listener]
+        )
+        pool = get_pool(client)
+        self.assertEqual(pool.opts.wait_queue_timeout, 0.01)
+        with pool.checkout():
+            with self.assertRaises(WaitQueueTimeoutError):
+                client.test.command("ping")
+        self.assertFalse(listener.events_by_type(monitoring.PoolClearedEvent))
 
     def test_socketKeepAlive(self):
         pool = get_pool(self.client)