diff --git a/docs/events/apigateway.md b/docs/events/apigateway.md
index 4feb8d18c0..3b633d4f3c 100644
--- a/docs/events/apigateway.md
+++ b/docs/events/apigateway.md
@@ -55,6 +55,9 @@ Summary:
 - [AWS X-Ray Tracing](#aws-x-ray-tracing)
 - [Tags / Stack Tags](#tags--stack-tags)
 - [Logs](#logs)
+- [Disable Default Endpoint](#disable-default-endpoint)
+- [Providing a custom stage name](#providing-a-custom-stage-name)
+- [Timeout](#timeout)
 
 _Are you looking for tutorials on using API Gateway? Check out the following resources:_
 
@@ -1867,3 +1870,33 @@ provider:
   apiGateway:
     stage: customStageName
 ```
+
+## Timeout
+
+By default, the timeout for API Gateway integration is 29 seconds.
+You can change this by setting the `timeoutInMillis` property in the `apiGateway` configuration
+and overriding it in the `http` event for specific functions.
+
+**Note:** This is particularly useful if you have requested an increase to the API Gateway integration timeout soft limit
+in AWS (which previously had a hard limit of 29 seconds).
+
+```yml
+provider:
+  apiGateway:
+    timeoutInMillis: 10000 # Default timeout of 10 seconds for all endpoints
+
+functions:
+  fetch:
+    handler: handler.hello
+    events:
+      - http:
+          path: /posts/{id}
+          method: get
+  create:
+    handler: handler.bye
+    events:
+      - http:
+          path: /posts
+          method: post
+          timeoutInMillis: 40000 # Override: 40-second timeout for this endpoint
+```
diff --git a/lib/plugins/aws/deploy/lib/extended-validate.js b/lib/plugins/aws/deploy/lib/extended-validate.js
index 53e4e70118..c7ca93751c 100644
--- a/lib/plugins/aws/deploy/lib/extended-validate.js
+++ b/lib/plugins/aws/deploy/lib/extended-validate.js
@@ -41,16 +41,24 @@ module.exports = {
         const functionObject = this.serverless.service.getFunction(functionName);
 
         // Check if function timeout is greater than API Gateway timeout
-        if (functionObject.timeout > 30 && functionObject.events) {
+        if (functionObject.timeout && functionObject.events) {
           functionObject.events.forEach((event) => {
             if (Object.keys(event)[0] === 'http' && !event.http.async) {
-              log.warning(
-                [
-                  `Function ${functionName} has timeout of ${functionObject.timeout} `,
-                  "seconds, however, it's attached to API Gateway so it's automatically ",
-                  'limited to 30 seconds.',
-                ].join('')
-              );
+              const localApiTimeout = event.http && event.http.timeoutInMillis;
+              const globalApiTimeout =
+                this.serverless.service &&
+                this.serverless.service.provider &&
+                this.serverless.service.provider.apiGateway &&
+                this.serverless.service.provider.apiGateway.timeoutInMillis;
+              const apiTimeout = localApiTimeout || globalApiTimeout || 29000 / 1000; // Default to 29 seconds
+              if (functionObject.timeout > apiTimeout) {
+                log.warning(
+                  [
+                    `Function ${functionName} has a timeout of ${functionObject.timeout} seconds, `,
+                    `but it is attached to an API Gateway with a timeout of ${apiTimeout} seconds. `,
+                  ].join('')
+                );
+              }
             }
           });
         }
diff --git a/lib/plugins/aws/package/compile/events/api-gateway/index.js b/lib/plugins/aws/package/compile/events/api-gateway/index.js
index 2cf8fa2dd8..09e3fd8bfa 100644
--- a/lib/plugins/aws/package/compile/events/api-gateway/index.js
+++ b/lib/plugins/aws/package/compile/events/api-gateway/index.js
@@ -208,6 +208,7 @@ class AwsCompileApigEvents {
             private: { type: 'boolean' },
             request: requestSchema,
             response: responseSchema,
+            timeoutInMillis: { type: 'integer', minimum: 50 },
           },
           required: ['path', 'method'],
           additionalProperties: false,
diff --git a/lib/plugins/aws/package/compile/events/api-gateway/lib/method/integration.js b/lib/plugins/aws/package/compile/events/api-gateway/lib/method/integration.js
index add99dbd30..972376f2fa 100644
--- a/lib/plugins/aws/package/compile/events/api-gateway/lib/method/integration.js
+++ b/lib/plugins/aws/package/compile/events/api-gateway/lib/method/integration.js
@@ -51,9 +51,16 @@ const DEFAULT_COMMON_TEMPLATE = `
 module.exports = {
   getMethodIntegration(http, { lambdaLogicalId, lambdaAliasName }) {
     const type = http.integration || 'AWS_PROXY';
+    const globalApiTimeout =
+      this.serverless.service &&
+      this.serverless.service.provider &&
+      this.serverless.service.provider.apiGateway &&
+      this.serverless.service.provider.apiGateway.timeoutInMillis;
+
     const integration = {
       IntegrationHttpMethod: 'POST',
       Type: type,
+      TimeoutInMillis: http.timeoutInMillis || globalApiTimeout || undefined,
     };
 
     // Valid integrations are:
diff --git a/lib/plugins/aws/provider.js b/lib/plugins/aws/provider.js
index 44fcbd3fd3..f067e791cc 100644
--- a/lib/plugins/aws/provider.js
+++ b/lib/plugins/aws/provider.js
@@ -870,6 +870,7 @@ class AwsProvider {
                 },
                 shouldStartNameWithService: { type: 'boolean' },
                 stage: { type: 'string' },
+                timeoutInMillis: { type: 'integer', minimum: 50 },
                 usagePlan: {
                   anyOf: [
                     apiGatewayUsagePlan,