diff --git a/docs/api.md b/docs/api.md
index 9406f97c..51c51a9f 100644
--- a/docs/api.md
+++ b/docs/api.md
@@ -146,3 +146,16 @@ class MyMachine(StateChart):
 ```{eval-rst}
 .. autofunction:: statemachine.io.create_machine_class_from_definition
 ```
+
+## timeout
+
+```{versionadded} 3.0.0
+```
+
+```{seealso}
+{ref}`timeout` how-to guide.
+```
+
+```{eval-rst}
+.. autofunction:: statemachine.contrib.timeout.timeout
+```
diff --git a/docs/how-to/coming_from_transitions.md b/docs/how-to/coming_from_transitions.md
index ea0bc570..12ab66aa 100644
--- a/docs/how-to/coming_from_transitions.md
+++ b/docs/how-to/coming_from_transitions.md
@@ -960,4 +960,4 @@ See {ref}`validations` for the full list.
 | Ordered transitions | Yes | Via explicit wiring |
 | Tags on states | Yes | Via subclassing |
 | {ref}`Machine nesting (children) <invoke>` | Yes | Yes (invoke) |
-| Timeout transitions | Yes | {ref}`Yes <delayed-events>` |
+| {ref}`Timeout transitions <timeout>` | Yes | Yes |
diff --git a/docs/index.md b/docs/index.md
index a19cd8b5..ee6ed44b 100644
--- a/docs/index.md
+++ b/docs/index.md
@@ -55,6 +55,7 @@ invoke
 models
 integrations
 weighted_transitions
+timeout
 ```
 
 ```{toctree}
diff --git a/docs/releases/3.0.0.md b/docs/releases/3.0.0.md
index 304de7fd..0157bc07 100644
--- a/docs/releases/3.0.0.md
+++ b/docs/releases/3.0.0.md
@@ -532,6 +532,31 @@ through the existing condition system — no engine changes required.
 See {ref}`weighted-transitions` for full documentation.
 
 
+#### State timeouts
+
+A new contrib module `statemachine.contrib.timeout` provides a `timeout()` invoke helper
+for per-state watchdog timers. When a state is entered, a background timer starts; if the
+state is not exited before the timer expires, an event is sent automatically. The timer is
+cancelled on state exit, with no manual cleanup needed.
+
+```py
+>>> from statemachine import State, StateChart
+>>> from statemachine.contrib.timeout import timeout
+
+>>> class WaitingMachine(StateChart):
+...     waiting = State(initial=True, invoke=timeout(5, on="expired"))
+...     timed_out = State(final=True)
+...     expired = waiting.to(timed_out)
+
+>>> sm = WaitingMachine()
+>>> sm.waiting.is_active
+True
+
+```
+
+See {ref}`timeout` for full documentation.
+
+
 #### Create state machine from a dict definition
 
 Dynamically create state machine classes using
diff --git a/docs/timeout.md b/docs/timeout.md
new file mode 100644
index 00000000..a7a1fa2d
--- /dev/null
+++ b/docs/timeout.md
@@ -0,0 +1,92 @@
+(timeout)=
+# State timeouts
+
+A common need is preventing a state machine from getting stuck — for example,
+a "waiting for response" state that should time out after a few seconds. The
+{func}`~statemachine.contrib.timeout.timeout` helper makes this easy by
+leveraging the {ref}`invoke <invoke>` system: a background timer starts when
+the state is entered and is automatically cancelled when the state is exited.
+
+## Basic usage
+
+When the timeout expires and no custom event is specified, the standard
+`done.invoke.<state>` event fires — just like any other invoke completion:
+
+```py
+>>> from statemachine import State, StateChart
+>>> from statemachine.contrib.timeout import timeout
+
+>>> class WaitingMachine(StateChart):
+...     waiting = State(initial=True, invoke=timeout(5))
+...     done = State(final=True)
+...     done_invoke_waiting = waiting.to(done)
+
+>>> sm = WaitingMachine()
+>>> sm.waiting.is_active
+True
+
+```
+
+In this example, if the machine stays in `waiting` for 5 seconds,
+`done.invoke.waiting` fires and the machine transitions to `done`.
+If any other event causes a transition out of `waiting` first,
+the timer is cancelled automatically.
+
+
+## Custom timeout event
+
+Use the `on` parameter to send a specific event name instead of
+`done.invoke.<state>`. This is useful when you want to distinguish
+timeouts from normal completions:
+
+```py
+>>> from statemachine import State, StateChart
+>>> from statemachine.contrib.timeout import timeout
+
+>>> class RequestMachine(StateChart):
+...     requesting = State(initial=True, invoke=timeout(30, on="request_timeout"))
+...     timed_out = State(final=True)
+...     request_timeout = requesting.to(timed_out)
+
+>>> sm = RequestMachine()
+>>> sm.requesting.is_active
+True
+
+```
+
+## Composing with other invoke handlers
+
+Since `timeout()` returns a standard invoke handler, you can combine it with
+other handlers in a list. The first handler to complete and trigger a transition
+wins — the state exit cancels everything else:
+
+```py
+>>> from statemachine import State, StateChart
+>>> from statemachine.contrib.timeout import timeout
+
+>>> def fetch_data():
+...     return {"status": "ok"}
+
+>>> class LoadingMachine(StateChart):
+...     loading = State(initial=True, invoke=[fetch_data, timeout(30, on="too_slow")])
+...     ready = State(final=True)
+...     stuck = State(final=True)
+...     done_invoke_loading = loading.to(ready)
+...     too_slow = loading.to(stuck)
+
+>>> sm = LoadingMachine()
+>>> sm.ready.is_active
+True
+
+```
+
+In this example:
+- If `fetch_data` completes within 30 seconds, `done.invoke.loading` fires
+  and transitions to `ready`, cancelling the timeout.
+- If 30 seconds pass first, `too_slow` fires and transitions to `stuck`,
+  cancelling the `fetch_data` invoke.
+
+
+## API reference
+
+See {func}`~statemachine.contrib.timeout.timeout` in the {ref}`API docs <api>`.
diff --git a/statemachine/contrib/timeout.py b/statemachine/contrib/timeout.py
new file mode 100644
index 00000000..8998eb93
--- /dev/null
+++ b/statemachine/contrib/timeout.py
@@ -0,0 +1,68 @@
+"""Timeout helper for state invocations.
+
+Provides a ``timeout()`` function that returns an :class:`~statemachine.invoke.IInvoke`
+handler. When a state is entered, the handler waits for the given duration; if the state
+is not exited before the timer expires, an event is sent to the machine.
+
+Example::
+
+    from statemachine.contrib.timeout import timeout
+
+    class MyMachine(StateChart):
+        waiting = State(initial=True, invoke=timeout(5, on="expired"))
+        timed_out = State(final=True)
+        expired = waiting.to(timed_out)
+"""
+
+from typing import TYPE_CHECKING
+from typing import Any
+
+if TYPE_CHECKING:
+    from statemachine.invoke import InvokeContext
+
+
+class _Timeout:
+    """IInvoke handler that waits for a duration and optionally sends an event."""
+
+    def __init__(self, duration: float, on: "str | None" = None):
+        self.duration = duration
+        self.on = on
+
+    def run(self, ctx: "InvokeContext") -> Any:
+        """Wait for the timeout duration, then optionally send an event.
+
+        If the owning state is exited before the timer expires (``ctx.cancelled``
+        is set), the handler returns immediately without sending anything.
+        """
+        fired = not ctx.cancelled.wait(timeout=self.duration)
+        if not fired:
+            # State was exited before the timeout — nothing to do.
+            return None
+        if self.on is not None:
+            ctx.send(self.on)
+        return None
+
+    def __repr__(self) -> str:
+        args = f"{self.duration}"
+        if self.on is not None:
+            args += f", on={self.on!r}"
+        return f"timeout({args})"
+
+
+def timeout(duration: float, *, on: "str | None" = None) -> _Timeout:
+    """Create a timeout invoke handler.
+
+    Args:
+        duration: Time in seconds to wait before firing.
+        on: Event name to send when the timeout expires. If ``None``, the
+            standard ``done.invoke.<state>`` event fires via invoke completion.
+
+    Returns:
+        An :class:`~statemachine.invoke.IInvoke`-compatible handler.
+
+    Raises:
+        ValueError: If *duration* is not positive.
+    """
+    if duration <= 0:
+        raise ValueError(f"timeout duration must be positive, got {duration}")
+    return _Timeout(duration=duration, on=on)
diff --git a/tests/test_contrib_timeout.py b/tests/test_contrib_timeout.py
new file mode 100644
index 00000000..ef4defcf
--- /dev/null
+++ b/tests/test_contrib_timeout.py
@@ -0,0 +1,139 @@
+"""Tests for the timeout contrib module."""
+
+import threading
+
+import pytest
+from statemachine.contrib.timeout import _Timeout
+from statemachine.contrib.timeout import timeout
+
+from statemachine import State
+from statemachine import StateChart
+
+
+class TestTimeoutValidation:
+    def test_positive_duration(self):
+        t = timeout(5)
+        assert isinstance(t, _Timeout)
+        assert t.duration == 5
+
+    def test_zero_duration_raises(self):
+        with pytest.raises(ValueError, match="must be positive"):
+            timeout(0)
+
+    def test_negative_duration_raises(self):
+        with pytest.raises(ValueError, match="must be positive"):
+            timeout(-1)
+
+    def test_repr_without_on(self):
+        assert repr(timeout(5)) == "timeout(5)"
+
+    def test_repr_with_on(self):
+        assert repr(timeout(3.5, on="expired")) == "timeout(3.5, on='expired')"
+
+
+class TestTimeoutBasic:
+    """Timeout fires done.invoke.<state> when no custom event is specified."""
+
+    async def test_timeout_fires_done_invoke(self, sm_runner):
+        class SM(StateChart):
+            waiting = State(initial=True, invoke=timeout(0.05))
+            done = State(final=True)
+            done_invoke_waiting = waiting.to(done)
+
+        sm = await sm_runner.start(SM)
+        await sm_runner.sleep(0.15)
+        await sm_runner.processing_loop(sm)
+
+        assert "done" in sm.configuration_values
+
+    async def test_timeout_cancelled_on_early_exit(self, sm_runner):
+        """If the machine transitions out before the timeout, nothing fires."""
+
+        class SM(StateChart):
+            waiting = State(initial=True, invoke=timeout(10))
+            other = State(final=True)
+            go = waiting.to(other)
+            # No done_invoke_waiting — would fail if timeout fired unexpectedly
+            done_invoke_waiting = waiting.to(waiting)
+
+        sm = await sm_runner.start(SM)
+        await sm_runner.send(sm, "go")
+
+        assert "other" in sm.configuration_values
+
+
+class TestTimeoutCustomEvent:
+    """Timeout fires a custom event via the `on` parameter."""
+
+    async def test_custom_event_fires(self, sm_runner):
+        class SM(StateChart):
+            waiting = State(initial=True, invoke=timeout(0.05, on="expired"))
+            timed_out = State(final=True)
+            expired = waiting.to(timed_out)
+
+        sm = await sm_runner.start(SM)
+        await sm_runner.sleep(0.15)
+        await sm_runner.processing_loop(sm)
+
+        assert "timed_out" in sm.configuration_values
+
+    async def test_custom_event_cancelled_on_early_exit(self, sm_runner):
+        class SM(StateChart):
+            waiting = State(initial=True, invoke=timeout(10, on="expired"))
+            other = State(final=True)
+            go = waiting.to(other)
+            expired = waiting.to(waiting)
+
+        sm = await sm_runner.start(SM)
+        await sm_runner.send(sm, "go")
+
+        assert "other" in sm.configuration_values
+
+
+class TestTimeoutComposition:
+    """Timeout combined with other invoke handlers — first to complete wins."""
+
+    async def test_invoke_completes_before_timeout(self, sm_runner):
+        """A fast invoke handler transitions out, cancelling the timeout."""
+
+        def fast_handler():
+            return "fast_result"
+
+        class SM(StateChart):
+            loading = State(initial=True, invoke=[fast_handler, timeout(10, on="too_slow")])
+            ready = State(final=True)
+            stuck = State(final=True)
+            done_invoke_loading = loading.to(ready)
+            too_slow = loading.to(stuck)
+
+        sm = await sm_runner.start(SM)
+        await sm_runner.sleep(0.15)
+        await sm_runner.processing_loop(sm)
+
+        assert "ready" in sm.configuration_values
+
+    async def test_timeout_fires_before_slow_invoke(self, sm_runner):
+        """Timeout fires while a slow invoke handler is still running."""
+        handler_cancelled = threading.Event()
+
+        class SlowHandler:
+            def run(self, ctx):
+                # Wait until cancelled (state exit) — simulates long-running work
+                ctx.cancelled.wait()
+                handler_cancelled.set()
+
+        class SM(StateChart):
+            loading = State(initial=True, invoke=[SlowHandler(), timeout(0.05, on="too_slow")])
+            ready = State(final=True)
+            stuck = State(final=True)
+            done_invoke_loading = loading.to(ready)
+            too_slow = loading.to(stuck)
+
+        sm = await sm_runner.start(SM)
+        await sm_runner.sleep(0.15)
+        await sm_runner.processing_loop(sm)
+
+        assert "stuck" in sm.configuration_values
+        # The slow handler should have been cancelled when the state exited
+        handler_cancelled.wait(timeout=2)
+        assert handler_cancelled.is_set()