diff --git a/lib/_http_server.js b/lib/_http_server.js
index 0f5865126689d3..dd127f5ed3ef13 100644
--- a/lib/_http_server.js
+++ b/lib/_http_server.js
@@ -739,11 +739,18 @@ assignFunctionName(EE.captureRejectionSymbol, function(err, event, ...args) {
 });
 
 function checkConnections() {
-  if (this.headersTimeout === 0 && this.requestTimeout === 0) {
+  const headersTimeout =
+    NumberIsFinite(this.headersTimeout) && this.headersTimeout >= 0 ?
+      this.headersTimeout : 0;
+  const requestTimeout =
+    NumberIsFinite(this.requestTimeout) && this.requestTimeout >= 0 ?
+      this.requestTimeout : 0;
+
+  if (headersTimeout === 0 && requestTimeout === 0) {
     return;
   }
 
-  const expired = this[kConnections].expired(this.headersTimeout, this.requestTimeout);
+  const expired = this[kConnections].expired(headersTimeout, requestTimeout);
 
   for (let i = 0; i < expired.length; i++) {
     const socket = expired[i].socket;
diff --git a/test/parallel/test-http-server-invalid-headers-timeout-no-abort.js b/test/parallel/test-http-server-invalid-headers-timeout-no-abort.js
new file mode 100644
index 00000000000000..85c6b95c56a103
--- /dev/null
+++ b/test/parallel/test-http-server-invalid-headers-timeout-no-abort.js
@@ -0,0 +1,33 @@
+'use strict';
+
+require('../common');
+const assert = require('assert');
+const { spawnSync } = require('child_process');
+
+if (process.argv[2] === 'child') {
+  const { createServer } = require('http');
+
+  const server = createServer({
+    connectionsCheckingInterval: 1,
+  }, (_req, res) => {
+    res.end('ok');
+  });
+
+  server.headersTimeout = 'im-not-a-number';
+
+  server.listen(0, '127.0.0.1', () => {
+    setTimeout(() => {
+      server.close(() => process.exit(0));
+    }, 50);
+  });
+} else {
+  // Run the repro in a child so the native crash is observable without failing the whole run
+  const { signal, status, stderr } = spawnSync(
+    process.execPath,
+    [__filename, 'child'],
+    { encoding: 'utf8' },
+  );
+
+  assert.strictEqual(signal, null);
+  assert.strictEqual(status, 0, stderr);
+}