diff --git a/pgconn/config.go b/pgconn/config.go
index 13167729..40cbd0bb 100644
--- a/pgconn/config.go
+++ b/pgconn/config.go
@@ -41,7 +41,19 @@ type Config struct {
 	// allows implementing high availability behavior such as libpq does with target_session_attrs.
 	AfterConnectFunc AfterConnectFunc
 
-	OnNotice NoticeHandler // Callback function called when a notice response is received.
+	// OnContextCancel is a callback function used to override cancellation behavior. It is called when a context.Context
+	// is canceled. Default cancellation behavior is to establish another connection to the PostgreSQL server and send a
+	// query cancel request. Some non-PostgreSQL servers (e.g. CockroachDB) that speak a subset of the PostgreSQL wire
+	// protocol do not support this cancellation method.
+	//
+	// It is called from a background goroutine. When the cancellation process has finished ContextCancel.Finish must be
+	// called whether it was successful or not. If an error occurs the connection should be closed. The connection must be
+	// in a ready for query state or be closed when ContextCancel.Finish is called. Use PgConn.ReceiveMessage() to read
+	// the connection until a ready for query message is received.
+	OnContextCancel func(*ContextCancel)
+
+	// OnNotice is a callback function called when a notice response is received.
+	OnNotice NoticeHandler
 }
 
 // FallbackConfig is additional settings to attempt a connection with when the primary Config fails to establish a
diff --git a/pgconn/pgconn.go b/pgconn/pgconn.go
index bab4370a..08fce16e 100644
--- a/pgconn/pgconn.go
+++ b/pgconn/pgconn.go
@@ -527,6 +527,22 @@ func (pgConn *PgConn) cancelRequest(ctx context.Context) error {
 	return nil
 }
 
+// WaitUntilReady waits until a previous context cancellation has been competed processed and the connection is ready
+// for use. This is done automatically by all methods that need the connection to be ready for use. The only expected
+// use for this method is for a connection pool to wait for a returned connection to be usable again before making it
+// available.
+func (pgConn *PgConn) WaitUntilReady(ctx context.Context) error {
+	select {
+	case <-ctx.Done():
+		return ctx.Err()
+	case pgConn.controller <- pgConn:
+		// The connection must be ready since it was locked. Immediately unlock it.
+		<-pgConn.controller
+	}
+
+	return nil
+}
+
 // Exec executes SQL via the PostgreSQL simple query protocol. SQL may contain multiple queries. Execution is
 // implicitly wrapped in a transaction unless a transaction is already in progress or SQL contains transaction control
 // statements.
@@ -942,7 +958,7 @@ func (rr *ResultReader) concludeCommand(commandTag CommandTag, err error) {
 	rr.commandConcluded = true
 }
 
-func (pgConn *PgConn) recoverFromTimeout() {
+func (pgConn *PgConn) defaultCancel() {
 	// Regardless of recovery outcome the lock on the pgConn must be released.
 	defer func() { <-pgConn.controller }()
 
@@ -991,6 +1007,26 @@ func (pgConn *PgConn) recoverFromTimeout() {
 	}
 }
 
+type ContextCancel struct {
+	PgConn *PgConn
+}
+
+// Finish must be called when the cancellation request has finished processing. The connection must be in a ready for
+// query state or the connection must be closed. This must be called regardless of the success of the cancellation and
+// whether the connection is still valid or not. It releases an internal busy lock on the connection.
+func (cc *ContextCancel) Finish() {
+	<-cc.PgConn.controller
+}
+
+func (pgConn *PgConn) recoverFromTimeout() {
+	if pgConn.Config.OnContextCancel == nil {
+		pgConn.defaultCancel()
+	} else {
+		cc := &ContextCancel{PgConn: pgConn}
+		pgConn.Config.OnContextCancel(cc)
+	}
+}
+
 // Batch is a collection of queries that can be sent to the PostgreSQL server in a single round-trip.
 type Batch struct {
 	buf []byte
diff --git a/pgconn/pgconn_test.go b/pgconn/pgconn_test.go
index 2d8cc784..9452ffc0 100644
--- a/pgconn/pgconn_test.go
+++ b/pgconn/pgconn_test.go
@@ -11,6 +11,7 @@ import (
 	"time"
 
 	"github.com/jackc/pgx/pgconn"
+	"github.com/jackc/pgx/pgproto3"
 	"github.com/pkg/errors"
 
 	"github.com/stretchr/testify/assert"
@@ -490,6 +491,72 @@ func TestCommandTag(t *testing.T) {
 	}
 }
 
+func TestConnContextCancelWithOnContextCancel(t *testing.T) {
+	t.Parallel()
+
+	config, err := pgconn.ParseConfig(os.Getenv("PGX_TEST_DATABASE"))
+	require.Nil(t, err)
+
+	calledChan := make(chan struct{})
+
+	config.OnContextCancel = func(cc *pgconn.ContextCancel) {
+		defer cc.Finish()
+		close(calledChan)
+
+		for {
+			msg, err := cc.PgConn.ReceiveMessage()
+			if err != nil {
+				cc.PgConn.Close(context.Background())
+				return
+			}
+
+			switch msg.(type) {
+			case *pgproto3.ReadyForQuery:
+				return
+			}
+		}
+	}
+
+	pgConn, err := pgconn.ConnectConfig(context.Background(), config)
+	require.Nil(t, err)
+	defer closeConn(t, pgConn)
+
+	ctx, cancel := context.WithTimeout(context.Background(), 100*time.Millisecond)
+	defer cancel()
+	result := pgConn.ExecParams(ctx, "select 'Hello, world', pg_sleep(0.25)", nil, nil, nil, nil)
+	_, err = result.Close()
+	assert.Equal(t, context.DeadlineExceeded, err)
+
+	called := false
+	select {
+	case <-calledChan:
+		called = true
+	case <-time.NewTimer(time.Second).C:
+	}
+
+	assert.True(t, called)
+
+	ensureConnValid(t, pgConn)
+}
+
+func TestConnWaitUntilReady(t *testing.T) {
+	t.Parallel()
+
+	pgConn, err := pgconn.Connect(context.Background(), os.Getenv("PGX_TEST_DATABASE"))
+	require.Nil(t, err)
+	defer closeConn(t, pgConn)
+
+	ctx, cancel := context.WithTimeout(context.Background(), 100*time.Millisecond)
+	defer cancel()
+	result := pgConn.ExecParams(ctx, "select current_database(), pg_sleep(1)", nil, nil, nil, nil).Read()
+	assert.Equal(t, context.DeadlineExceeded, result.Err)
+
+	err = pgConn.WaitUntilReady(context.Background())
+	require.Nil(t, err)
+
+	ensureConnValid(t, pgConn)
+}
+
 func TestConnOnNotice(t *testing.T) {
 	t.Parallel()