diff --git a/packages/driver/src/cy/commands/misc.js b/packages/driver/src/cy/commands/misc.js
index 0d08708c5a..91b49ffcb1 100644
--- a/packages/driver/src/cy/commands/misc.js
+++ b/packages/driver/src/cy/commands/misc.js
@@ -1,6 +1,8 @@
 const _ = require('lodash')
+const Promise = require('bluebird')
 
 const $dom = require('../../dom')
+const $errUtils = require('../../cypress/error_utils')
 
 module.exports = (Commands, Cypress, cy) => {
   Commands.addAll({ prevSubject: 'optional' }, {
@@ -33,7 +35,13 @@ module.exports = (Commands, Cypress, cy) => {
     wrap (arg, options = {}) {
       const userOptions = options
 
-      options = _.defaults({}, userOptions, { log: true })
+      options = _.defaults({}, userOptions, {
+        log: true,
+        timeout: Cypress.config('defaultCommandTimeout'),
+      })
+
+      // we'll handle the timeout ourselves
+      cy.clearTimeout()
 
       if (options.log !== false) {
         options._log = Cypress.log({
@@ -45,14 +53,28 @@ module.exports = (Commands, Cypress, cy) => {
         }
       }
 
-      const resolveWrap = () => {
-        return cy.verifyUpcomingAssertions(arg, options, {
-          onRetry: resolveWrap,
+      return Promise.resolve(arg)
+      .timeout(options.timeout)
+      .catch(Promise.TimeoutError, () => {
+        $errUtils.throwErrByPath('wrap.timed_out', {
+          args: { timeout: options.timeout },
         })
-        .return(arg)
-      }
+      })
+      .catch((err) => {
+        $errUtils.throwErr(err, {
+          onFail: options._log,
+        })
+      })
+      .then((subject) => {
+        const resolveWrap = () => {
+          return cy.verifyUpcomingAssertions(subject, options, {
+            onRetry: resolveWrap,
+          })
+          .return(subject)
+        }
 
-      return resolveWrap()
+        return resolveWrap()
+      })
     },
   })
 }
diff --git a/packages/driver/src/cypress/cy.js b/packages/driver/src/cypress/cy.js
index eb256ea18f..c9b9e796ba 100644
--- a/packages/driver/src/cypress/cy.js
+++ b/packages/driver/src/cypress/cy.js
@@ -327,7 +327,7 @@ const create = function (specWindow, Cypress, Cookies, state, config, log) {
       state('nestedIndex', state('index'))
 
       return command.get('args')
-    }).all()
+    })
 
     .then((args) => {
       // store this if we enqueue new commands
diff --git a/packages/driver/src/cypress/error_messages.js b/packages/driver/src/cypress/error_messages.js
index 37fea89b25..360ab303b8 100644
--- a/packages/driver/src/cypress/error_messages.js
+++ b/packages/driver/src/cypress/error_messages.js
@@ -661,7 +661,7 @@ module.exports = {
       message: stripIndent`\
         ${cmd('{{cmd}}')} timed out after waiting \`{{timeout}}ms\`.
 
-        Your callback function returned a promise which never resolved.
+        Your callback function returned a promise that never resolved.
 
         The callback function was:
 
@@ -1798,6 +1798,19 @@ module.exports = {
     },
   },
 
+  wrap: {
+    timed_out: {
+      message: stripIndent`
+      ${cmd('wrap')} timed out waiting \`{{timeout}}ms\` to complete.
+      
+      You called \`cy.wrap()\` with a promise that never resolved.
+      
+      To increase the timeout, use \`{ timeout: number }\`
+      `,
+      docsUrl: 'https://on.cypress.io/wrap',
+    },
+  },
+
   xhr: {
     aborted: 'This XHR was aborted by your code -- check this stack trace below.',
     missing: '`XMLHttpRequest#xhr` is missing.',
diff --git a/packages/driver/test/cypress/integration/commands/connectors_spec.js b/packages/driver/test/cypress/integration/commands/connectors_spec.js
index 44d42ec021..fdebd4febc 100644
--- a/packages/driver/test/cypress/integration/commands/connectors_spec.js
+++ b/packages/driver/test/cypress/integration/commands/connectors_spec.js
@@ -1955,7 +1955,7 @@ describe('src/cy/commands/connectors', () => {
           cy.on('fail', (err) => {
             // get + each
             expect(this.logs.length).to.eq(2)
-            expect(err.message).to.include('`cy.each()` timed out after waiting `50ms`.\n\nYour callback function returned a promise which never resolved.')
+            expect(err.message).to.include('`cy.each()` timed out after waiting `50ms`.\n\nYour callback function returned a promise that never resolved.')
             expect(err.docsUrl).to.include('https://on.cypress.io/each')
 
             done()
diff --git a/packages/driver/test/cypress/integration/commands/misc_spec.js b/packages/driver/test/cypress/integration/commands/misc_spec.js
index 0d078b6249..6a9dfb1d3f 100644
--- a/packages/driver/test/cypress/integration/commands/misc_spec.js
+++ b/packages/driver/test/cypress/integration/commands/misc_spec.js
@@ -191,7 +191,32 @@ describe('src/cy/commands/misc', () => {
       })
     })
 
+    it('can extend the default timeout', () => {
+      Cypress.config('defaultCommandTimeout', 100)
+
+      const timeoutPromise = new Promise((resolve, reject) => {
+        return setTimeout(() => {
+          resolve(null)
+        })
+      }, 200)
+
+      cy.wrap(timeoutPromise, { timeout: 300 })
+    })
+
     describe('errors', () => {
+      beforeEach(function () {
+        this.logs = []
+
+        cy.on('log:added', (attrs, log) => {
+          if (attrs.name === 'wrap') {
+            this.lastLog = log
+            this.logs.push(log)
+          }
+        })
+
+        return null
+      })
+
       it('throws when wrapping an array of windows', (done) => {
         cy.on('fail', (err) => {
           expect(err.message).to.include('`cy.scrollTo()` failed because it requires a DOM element.')
@@ -219,6 +244,61 @@ describe('src/cy/commands/misc', () => {
           cy.wrap([doc]).screenshot()
         })
       })
+
+      it('throws when exceeding default timeout', function (done) {
+        Cypress.config('defaultCommandTimeout', 100)
+
+        cy.on('fail', (err) => {
+          expect(this.logs.length).to.eq(1)
+          expect(err.message).to.include('`cy.wrap()` timed out waiting `100ms` to complete.')
+          expect(err.message).to.include('You called `cy.wrap()` with a promise that never resolved.')
+          expect(err.message).to.include('To increase the timeout, use `{ timeout: number }`')
+          expect(this.lastLog.get('error')).to.eq(err)
+          done()
+        })
+
+        const timeoutPromise = new Promise((resolve) => {
+          setTimeout((() => {
+            resolve(null)
+          }), 200)
+        })
+
+        cy.wrap(timeoutPromise)
+      })
+
+      it('throws when exceeding custom timeout', function (done) {
+        cy.on('fail', (err) => {
+          expect(this.logs.length).to.eq(1)
+          expect(err.message).to.include('`cy.wrap()` timed out waiting `100ms` to complete.')
+          expect(err.message).to.include('You called `cy.wrap()` with a promise that never resolved.')
+          expect(err.message).to.include('To increase the timeout, use `{ timeout: number }`')
+          expect(this.lastLog.get('error')).to.eq(err)
+          done()
+        })
+
+        const timeoutPromise = new Promise((resolve) => {
+          setTimeout((() => {
+            resolve(null)
+          }), 200)
+        })
+
+        cy.wrap(timeoutPromise, { timeout: 100 })
+      })
+
+      it('logs once when promise parameter is rejected', function (done) {
+        cy.on('fail', (err) => {
+          expect(this.logs.length).to.eq(1)
+          expect(err.message).to.include('custom error')
+          expect(this.lastLog.get('error')).to.eq(err)
+          done()
+        })
+
+        const rejectedPromise = new Promise((resolve, reject) => {
+          reject(new Error('custom error'))
+        })
+
+        cy.wrap(rejectedPromise)
+      })
     })
 
     describe('.log', () => {