diff --git a/core/src/main/scala/org/apache/spark/executor/Executor.scala b/core/src/main/scala/org/apache/spark/executor/Executor.scala
index 552b644d13aa..9b1418436424 100644
--- a/core/src/main/scala/org/apache/spark/executor/Executor.scala
+++ b/core/src/main/scala/org/apache/spark/executor/Executor.scala
@@ -30,6 +30,7 @@ import scala.util.control.NonFatal
 import org.apache.spark._
 import org.apache.spark.deploy.SparkHadoopUtil
 import org.apache.spark.memory.TaskMemoryManager
+import org.apache.spark.rpc.RpcTimeout
 import org.apache.spark.scheduler.{DirectTaskResult, IndirectTaskResult, Task}
 import org.apache.spark.shuffle.FetchFailedException
 import org.apache.spark.storage.{StorageLevel, TaskResultBlockId}
@@ -445,7 +446,8 @@ private[spark] class Executor(
 
     val message = Heartbeat(executorId, tasksMetrics.toArray, env.blockManager.blockManagerId)
     try {
-      val response = heartbeatReceiverRef.askWithRetry[HeartbeatResponse](message)
+      val response = heartbeatReceiverRef.askWithRetry[HeartbeatResponse](
+          message, RpcTimeout(conf, "spark.executor.heartbeatInterval", "10s"))
       if (response.reregisterBlockManager) {
         logInfo("Told to re-register on heartbeat")
         env.blockManager.reregister()