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..fc0a7041be9350
--- /dev/null
+++ b/test/parallel/test-http-server-invalid-headers-timeout-no-abort.js
@@ -0,0 +1,19 @@
+'use strict';
+
+const common = require('../common');
+const assert = require('assert');
+const { createServer } = require('http');
+
+const server = createServer({
+  connectionsCheckingInterval: 1,
+}, common.mustNotCall());
+
+// Invalid headersTimeout should not crash the server
+server.headersTimeout = 'im-not-a-number';
+assert.strictEqual(server.headersTimeout, 'im-not-a-number');
+
+server.listen(0, '127.0.0.1', common.mustCall(() => {
+  setTimeout(common.mustCall(() => {
+    server.close(common.mustCall());
+  }), common.platformTimeout(50));
+}));