diff --git a/packages/grpc-js/src/server.ts b/packages/grpc-js/src/server.ts
index feb511b41..33db41004 100644
--- a/packages/grpc-js/src/server.ts
+++ b/packages/grpc-js/src/server.ts
@@ -435,6 +435,14 @@ export class Server {
     );
   }
 
+  private keepaliveTrace(text: string): void {
+    logging.trace(
+      LogVerbosity.DEBUG,
+      'keepalive',
+      '(' + this.channelzRef.id + ') ' + text
+    );
+  }
+
   addProtoService(): never {
     throw new Error('Not implemented. Use addService() instead');
   }
@@ -1376,8 +1384,7 @@ export class Server {
 
       let connectionAgeTimer: NodeJS.Timeout | null = null;
       let connectionAgeGraceTimer: NodeJS.Timeout | null = null;
-      let keeapliveTimeTimer: NodeJS.Timeout | null = null;
-      let keepaliveTimeoutTimer: NodeJS.Timeout | null = null;
+      let keepaliveTimer: NodeJS.Timeout | null = null;
       let sessionClosedByServer = false;
 
       const idleTimeoutObj = this.enableIdleTimeout(session);
@@ -1420,41 +1427,90 @@ export class Server {
         connectionAgeTimer.unref?.();
       }
 
-      if (this.keepaliveTimeMs < KEEPALIVE_MAX_TIME_MS) {
-        keeapliveTimeTimer = setInterval(() => {
-          keepaliveTimeoutTimer = setTimeout(() => {
-            sessionClosedByServer = true;
-            session.close();
-          }, this.keepaliveTimeoutMs);
-          keepaliveTimeoutTimer.unref?.();
+      const clearKeepaliveTimeout = () => {
+        if (keepaliveTimer) {
+          clearTimeout(keepaliveTimer);
+          keepaliveTimer = null;
+        }
+      };
 
-          try {
-            session.ping(
-              (err: Error | null, duration: number, payload: Buffer) => {
-                if (keepaliveTimeoutTimer) {
-                  clearTimeout(keepaliveTimeoutTimer);
-                }
-
-                if (err) {
-                  sessionClosedByServer = true;
-                  this.trace(
-                    'Connection dropped due to error of a ping frame ' +
-                      err.message +
-                      ' return in ' +
-                      duration
-                  );
-                  session.close();
-                }
+      const canSendPing = () => {
+        return (
+          !session.destroyed &&
+          this.keepaliveTimeMs < KEEPALIVE_MAX_TIME_MS &&
+          this.keepaliveTimeMs > 0
+        );
+      };
+
+      /* eslint-disable-next-line prefer-const */
+      let sendPing: () => void; // hoisted for use in maybeStartKeepalivePingTimer
+
+      const maybeStartKeepalivePingTimer = () => {
+        if (!canSendPing()) {
+          return;
+        }
+        this.keepaliveTrace(
+          'Starting keepalive timer for ' + this.keepaliveTimeMs + 'ms'
+        );
+        keepaliveTimer = setTimeout(() => {
+          clearKeepaliveTimeout();
+          sendPing();
+        }, this.keepaliveTimeMs);
+        keepaliveTimer.unref?.();
+      };
+
+      sendPing = () => {
+        if (!canSendPing()) {
+          return;
+        }
+        this.keepaliveTrace(
+          'Sending ping with timeout ' + this.keepaliveTimeoutMs + 'ms'
+        );
+        let pingSendError = '';
+        try {
+          const pingSentSuccessfully = session.ping(
+            (err: Error | null, duration: number, payload: Buffer) => {
+              clearKeepaliveTimeout();
+              if (err) {
+                this.keepaliveTrace('Ping failed with error: ' + err.message);
+                sessionClosedByServer = true;
+                session.close();
+              } else {
+                this.keepaliveTrace('Received ping response');
+                maybeStartKeepalivePingTimer();
               }
-            );
-          } catch (e) {
-            clearTimeout(keepaliveTimeoutTimer);
-            // The ping can't be sent because the session is already closed
-            session.destroy();
+            }
+          );
+          if (!pingSentSuccessfully) {
+            pingSendError = 'Ping returned false';
           }
-        }, this.keepaliveTimeMs);
-        keeapliveTimeTimer.unref?.();
-      }
+        } catch (e) {
+          // grpc/grpc-node#2139
+          pingSendError =
+            (e instanceof Error ? e.message : '') || 'Unknown error';
+        }
+
+        if (pingSendError) {
+          this.keepaliveTrace('Ping send failed: ' + pingSendError);
+          this.trace(
+            'Connection dropped due to ping send error: ' + pingSendError
+          );
+          sessionClosedByServer = true;
+          session.close();
+          return;
+        }
+
+        keepaliveTimer = setTimeout(() => {
+          clearKeepaliveTimeout();
+          this.keepaliveTrace('Ping timeout passed without response');
+          this.trace('Connection dropped by keepalive timeout');
+          sessionClosedByServer = true;
+          session.close();
+        }, this.keepaliveTimeoutMs);
+        keepaliveTimer.unref?.();
+      };
+
+      maybeStartKeepalivePingTimer();
 
       session.on('close', () => {
         if (!sessionClosedByServer) {
@@ -1471,12 +1527,7 @@ export class Server {
           clearTimeout(connectionAgeGraceTimer);
         }
 
-        if (keeapliveTimeTimer) {
-          clearInterval(keeapliveTimeTimer);
-          if (keepaliveTimeoutTimer) {
-            clearTimeout(keepaliveTimeoutTimer);
-          }
-        }
+        clearKeepaliveTimeout();
 
         if (idleTimeoutObj !== null) {
           clearTimeout(idleTimeoutObj.timeout);
@@ -1521,8 +1572,7 @@ export class Server {
 
       let connectionAgeTimer: NodeJS.Timeout | null = null;
       let connectionAgeGraceTimer: NodeJS.Timeout | null = null;
-      let keeapliveTimeTimer: NodeJS.Timeout | null = null;
-      let keepaliveTimeoutTimer: NodeJS.Timeout | null = null;
+      let keepaliveTimeout: NodeJS.Timeout | null = null;
       let sessionClosedByServer = false;
 
       const idleTimeoutObj = this.enableIdleTimeout(session);
@@ -1564,49 +1614,103 @@ export class Server {
         connectionAgeTimer.unref?.();
       }
 
-      if (this.keepaliveTimeMs < KEEPALIVE_MAX_TIME_MS) {
-        keeapliveTimeTimer = setInterval(() => {
-          keepaliveTimeoutTimer = setTimeout(() => {
-            sessionClosedByServer = true;
-            this.channelzTrace.addTrace(
-              'CT_INFO',
-              'Connection dropped by keepalive timeout from ' + clientAddress
-            );
+      const clearKeepaliveTimeout = () => {
+        if (keepaliveTimeout) {
+          clearTimeout(keepaliveTimeout);
+          keepaliveTimeout = null;
+        }
+      };
+
+      const canSendPing = () => {
+        return (
+          !session.destroyed &&
+          this.keepaliveTimeMs < KEEPALIVE_MAX_TIME_MS &&
+          this.keepaliveTimeMs > 0
+        );
+      };
 
-            session.close();
-          }, this.keepaliveTimeoutMs);
-          keepaliveTimeoutTimer.unref?.();
+      /* eslint-disable-next-line prefer-const */
+      let sendPing: () => void; // hoisted for use in maybeStartKeepalivePingTimer
 
-          try {
-            session.ping(
-              (err: Error | null, duration: number, payload: Buffer) => {
-                if (keepaliveTimeoutTimer) {
-                  clearTimeout(keepaliveTimeoutTimer);
-                }
-
-                if (err) {
-                  sessionClosedByServer = true;
-                  this.channelzTrace.addTrace(
-                    'CT_INFO',
-                    'Connection dropped due to error of a ping frame ' +
-                      err.message +
-                      ' return in ' +
-                      duration
-                  );
-
-                  session.close();
-                }
+      const maybeStartKeepalivePingTimer = () => {
+        if (!canSendPing()) {
+          return;
+        }
+        this.keepaliveTrace(
+          'Starting keepalive timer for ' + this.keepaliveTimeMs + 'ms'
+        );
+        keepaliveTimeout = setTimeout(() => {
+          clearKeepaliveTimeout();
+          sendPing();
+        }, this.keepaliveTimeMs);
+        keepaliveTimeout.unref?.();
+      };
+
+      sendPing = () => {
+        if (!canSendPing()) {
+          return;
+        }
+        this.keepaliveTrace(
+          'Sending ping with timeout ' + this.keepaliveTimeoutMs + 'ms'
+        );
+        let pingSendError = '';
+        try {
+          const pingSentSuccessfully = session.ping(
+            (err: Error | null, duration: number, payload: Buffer) => {
+              clearKeepaliveTimeout();
+              if (err) {
+                this.keepaliveTrace('Ping failed with error: ' + err.message);
+                this.channelzTrace.addTrace(
+                  'CT_INFO',
+                  'Connection dropped due to error of a ping frame ' +
+                    err.message +
+                    ' return in ' +
+                    duration
+                );
+                sessionClosedByServer = true;
+                session.close();
+              } else {
+                this.keepaliveTrace('Received ping response');
+                maybeStartKeepalivePingTimer();
               }
-            );
-            channelzSessionInfo.keepAlivesSent += 1;
-          } catch (e) {
-            clearTimeout(keepaliveTimeoutTimer);
-            // The ping can't be sent because the session is already closed
-            session.destroy();
+            }
+          );
+          if (!pingSentSuccessfully) {
+            pingSendError = 'Ping returned false';
           }
-        }, this.keepaliveTimeMs);
-        keeapliveTimeTimer.unref?.();
-      }
+        } catch (e) {
+          // grpc/grpc-node#2139
+          pingSendError =
+            (e instanceof Error ? e.message : '') || 'Unknown error';
+        }
+
+        if (pingSendError) {
+          this.keepaliveTrace('Ping send failed: ' + pingSendError);
+          this.channelzTrace.addTrace(
+            'CT_INFO',
+            'Connection dropped due to ping send error: ' + pingSendError
+          );
+          sessionClosedByServer = true;
+          session.close();
+          return;
+        }
+
+        channelzSessionInfo.keepAlivesSent += 1;
+
+        keepaliveTimeout = setTimeout(() => {
+          clearKeepaliveTimeout();
+          this.keepaliveTrace('Ping timeout passed without response');
+          this.channelzTrace.addTrace(
+            'CT_INFO',
+            'Connection dropped by keepalive timeout from ' + clientAddress
+          );
+          sessionClosedByServer = true;
+          session.close();
+        }, this.keepaliveTimeoutMs);
+        keepaliveTimeout.unref?.();
+      };
+
+      maybeStartKeepalivePingTimer();
 
       session.on('close', () => {
         if (!sessionClosedByServer) {
@@ -1627,12 +1731,7 @@ export class Server {
           clearTimeout(connectionAgeGraceTimer);
         }
 
-        if (keeapliveTimeTimer) {
-          clearInterval(keeapliveTimeTimer);
-          if (keepaliveTimeoutTimer) {
-            clearTimeout(keepaliveTimeoutTimer);
-          }
-        }
+        clearKeepaliveTimeout();
 
         if (idleTimeoutObj !== null) {
           clearTimeout(idleTimeoutObj.timeout);
diff --git a/packages/grpc-js/src/transport.ts b/packages/grpc-js/src/transport.ts
index 934b62111..1acbab40e 100644
--- a/packages/grpc-js/src/transport.ts
+++ b/packages/grpc-js/src/transport.ts
@@ -102,28 +102,24 @@ class Http2Transport implements Transport {
   /**
    * The amount of time in between sending pings
    */
-  private keepaliveTimeMs = -1;
+  private readonly keepaliveTimeMs: number;
   /**
    * The amount of time to wait for an acknowledgement after sending a ping
    */
-  private keepaliveTimeoutMs: number = KEEPALIVE_TIMEOUT_MS;
+  private readonly keepaliveTimeoutMs: number;
   /**
-   * Timer reference for timeout that indicates when to send the next ping
+   * Indicates whether keepalive pings should be sent without any active calls
+   */
+  private readonly keepaliveWithoutCalls: boolean;
+  /**
+   * Timer reference indicating when to send the next ping or when the most recent ping will be considered lost.
    */
-  private keepaliveTimerId: NodeJS.Timeout | null = null;
+  private keepaliveTimer: NodeJS.Timeout | null = null;
   /**
    * Indicates that the keepalive timer ran out while there were no active
    * calls, and a ping should be sent the next time a call starts.
    */
   private pendingSendKeepalivePing = false;
-  /**
-   * Timer reference tracking when the most recent ping will be considered lost
-   */
-  private keepaliveTimeoutId: NodeJS.Timeout | null = null;
-  /**
-   * Indicates whether keepalive pings should be sent without any active calls
-   */
-  private keepaliveWithoutCalls = false;
 
   private userAgent: string;
 
@@ -183,9 +179,13 @@ class Http2Transport implements Transport {
 
     if ('grpc.keepalive_time_ms' in options) {
       this.keepaliveTimeMs = options['grpc.keepalive_time_ms']!;
+    } else {
+      this.keepaliveTimeMs = -1;
     }
     if ('grpc.keepalive_timeout_ms' in options) {
       this.keepaliveTimeoutMs = options['grpc.keepalive_timeout_ms']!;
+    } else {
+      this.keepaliveTimeoutMs = KEEPALIVE_TIMEOUT_MS;
     }
     if ('grpc.keepalive_permit_without_calls' in options) {
       this.keepaliveWithoutCalls =
@@ -196,7 +196,6 @@ class Http2Transport implements Transport {
 
     session.once('close', () => {
       this.trace('session closed');
-      this.stopKeepalivePings();
       this.handleDisconnect();
     });
 
@@ -384,6 +383,7 @@ class Http2Transport implements Transport {
    * Handle connection drops, but not GOAWAYs.
    */
   private handleDisconnect() {
+    this.clearKeepaliveTimeout();
     this.reportDisconnectToOwner(false);
     /* Give calls an event loop cycle to finish naturally before reporting the
      * disconnnection to them. */
@@ -391,6 +391,7 @@ class Http2Transport implements Transport {
       for (const call of this.activeCalls) {
         call.onDisconnect();
       }
+      this.session.destroy();
     });
   }
 
@@ -398,63 +399,58 @@ class Http2Transport implements Transport {
     this.disconnectListeners.push(listener);
   }
 
-  private clearKeepaliveTimer() {
-    if (!this.keepaliveTimerId) {
-      return;
-    }
-    clearTimeout(this.keepaliveTimerId);
-    this.keepaliveTimerId = null;
-  }
-
-  private clearKeepaliveTimeout() {
-    if (!this.keepaliveTimeoutId) {
-      return;
-    }
-    clearTimeout(this.keepaliveTimeoutId);
-    this.keepaliveTimeoutId = null;
-  }
-
   private canSendPing() {
     return (
+      !this.session.destroyed &&
       this.keepaliveTimeMs > 0 &&
       (this.keepaliveWithoutCalls || this.activeCalls.size > 0)
     );
   }
 
   private maybeSendPing() {
-    this.clearKeepaliveTimer();
     if (!this.canSendPing()) {
       this.pendingSendKeepalivePing = true;
       return;
     }
+    if (this.keepaliveTimer) {
+      console.error('keepaliveTimeout is not null');
+      return;
+    }
     if (this.channelzEnabled) {
       this.keepalivesSent += 1;
     }
     this.keepaliveTrace(
       'Sending ping with timeout ' + this.keepaliveTimeoutMs + 'ms'
     );
-    if (!this.keepaliveTimeoutId) {
-      this.keepaliveTimeoutId = setTimeout(() => {
-        this.keepaliveTrace('Ping timeout passed without response');
-        this.handleDisconnect();
-      }, this.keepaliveTimeoutMs);
-      this.keepaliveTimeoutId.unref?.();
-    }
+    this.keepaliveTimer = setTimeout(() => {
+      this.keepaliveTimer = null;
+      this.keepaliveTrace('Ping timeout passed without response');
+      this.handleDisconnect();
+    }, this.keepaliveTimeoutMs);
+    this.keepaliveTimer.unref?.();
+    let pingSendError = '';
     try {
-      this.session!.ping(
+      const pingSentSuccessfully = this.session.ping(
         (err: Error | null, duration: number, payload: Buffer) => {
+          this.clearKeepaliveTimeout();
           if (err) {
             this.keepaliveTrace('Ping failed with error ' + err.message);
             this.handleDisconnect();
+          } else {
+            this.keepaliveTrace('Received ping response');
+            this.maybeStartKeepalivePingTimer();
           }
-          this.keepaliveTrace('Received ping response');
-          this.clearKeepaliveTimeout();
-          this.maybeStartKeepalivePingTimer();
         }
       );
+      if (!pingSentSuccessfully) {
+        pingSendError = 'Ping returned false';
+      }
     } catch (e) {
-      /* If we fail to send a ping, the connection is no longer functional, so
-       * we should discard it. */
+      // grpc/grpc-node#2139
+      pingSendError = (e instanceof Error ? e.message : '') || 'Unknown error';
+    }
+    if (pingSendError) {
+      this.keepaliveTrace('Ping send failed: ' + pingSendError);
       this.handleDisconnect();
     }
   }
@@ -472,25 +468,28 @@ class Http2Transport implements Transport {
     if (this.pendingSendKeepalivePing) {
       this.pendingSendKeepalivePing = false;
       this.maybeSendPing();
-    } else if (!this.keepaliveTimerId && !this.keepaliveTimeoutId) {
+    } else if (!this.keepaliveTimer) {
       this.keepaliveTrace(
         'Starting keepalive timer for ' + this.keepaliveTimeMs + 'ms'
       );
-      this.keepaliveTimerId = setTimeout(() => {
+      this.keepaliveTimer = setTimeout(() => {
+        this.keepaliveTimer = null;
         this.maybeSendPing();
       }, this.keepaliveTimeMs);
-      this.keepaliveTimerId.unref?.();
+      this.keepaliveTimer.unref?.();
     }
     /* Otherwise, there is already either a keepalive timer or a ping pending,
      * wait for those to resolve. */
   }
 
-  private stopKeepalivePings() {
-    if (this.keepaliveTimerId) {
-      clearTimeout(this.keepaliveTimerId);
-      this.keepaliveTimerId = null;
+  /**
+   * Clears whichever keepalive timeout is currently active, if any.
+   */
+  private clearKeepaliveTimeout() {
+    if (this.keepaliveTimer) {
+      clearTimeout(this.keepaliveTimer);
+      this.keepaliveTimer = null;
     }
-    this.clearKeepaliveTimeout();
   }
 
   private removeActiveCall(call: Http2SubchannelCall) {
@@ -534,7 +533,7 @@ class Http2Transport implements Transport {
      * error here.
      */
     try {
-      http2Stream = this.session!.request(headers);
+      http2Stream = this.session.request(headers);
     } catch (e) {
       this.handleDisconnect();
       throw e;