diff --git a/CHANGES/10544.bugfix.rst b/CHANGES/10544.bugfix.rst
new file mode 100644
index 00000000000..2ccf54fc0ab
--- /dev/null
+++ b/CHANGES/10544.bugfix.rst
@@ -0,0 +1 @@
+Check for PONG before closing connection for missing PONG -- by :user:`mstegmaier`.
diff --git a/CONTRIBUTORS.txt b/CONTRIBUTORS.txt
index 3004ee5cd18..c759e39eb1b 100644
--- a/CONTRIBUTORS.txt
+++ b/CONTRIBUTORS.txt
@@ -256,6 +256,7 @@ Matvey Tingaev
 Meet Mangukiya
 Meshya
 Michael Ihnatenko
+Michael Stegmaier
 Michał Górny
 Mikhail Burshteyn
 Mikhail Kashkin
diff --git a/aiohttp/web_ws.py b/aiohttp/web_ws.py
index 78c130179f5..d3d4401f1e1 100644
--- a/aiohttp/web_ws.py
+++ b/aiohttp/web_ws.py
@@ -81,6 +81,7 @@ class WebSocketResponse(StreamResponse):
     _heartbeat_cb: Optional[asyncio.TimerHandle] = None
     _pong_response_cb: Optional[asyncio.TimerHandle] = None
     _ping_task: Optional[asyncio.Task[None]] = None
+    _pong_not_received_task: Optional[asyncio.Task[None]] = None
 
     def __init__(
         self,
@@ -185,12 +186,60 @@ def _ping_task_done(self, task: "asyncio.Task[None]") -> None:
         self._ping_task = None
 
     def _pong_not_received(self) -> None:
+        """Callback for when no PONG was received after self._pong_heartbeat seconds"""
         if self._req is not None and self._req.transport is not None:
-            self._handle_ping_pong_exception(
-                asyncio.TimeoutError(
-                    f"No PONG received after {self._pong_heartbeat} seconds"
+            loop = self._loop
+            if (
+                loop is not None and not self._waiting
+            ):  # If self._waiting is set we already are in the receive loop and would have read the PONG if one was there
+                pong_not_received_task = loop.create_task(
+                    self._pong_not_received_coro()
                 )
+                if not pong_not_received_task.done():
+                    self._pong_not_received_task = pong_not_received_task
+                    pong_not_received_task.add_done_callback(
+                        self._pong_not_received_done
+                    )
+                else:
+                    self._pong_not_received_done(pong_not_received_task)
+            else:
+                self._handle_ping_pong_exception(
+                    asyncio.TimeoutError(
+                        f"No PONG received after {self._pong_heartbeat} seconds"
+                    )
+                )
+
+    async def _pong_not_received_coro(self) -> None:
+        """Coroutine to check for pending PONG when no PONG was received after self._pong_heartbeat seconds"""
+        reader = self._reader
+        assert reader is not None
+        try:
+            async with async_timeout.timeout(self._pong_heartbeat / 10.0):
+                msg = await reader.read()
+            self._reset_heartbeat()
+            if msg.type is not WSMsgType.PONG:
+                ws_logger.warning(
+                    f"Received {msg} while waiting for PONG. It seems like you haven't called `receive` within {self._pong_heartbeat} seconds."
+                )
+            return
+        except asyncio.TimeoutError:  # We still did not receive a PONG
+            pass
+        except Exception as exc:
+            self._exception = exc
+            self._set_closing(WSCloseCode.ABNORMAL_CLOSURE)
+            await self.close()
+            return
+        self._handle_ping_pong_exception(
+            asyncio.TimeoutError(
+                f"No PONG received after {self._pong_heartbeat} seconds"
             )
+        )
+
+    def _pong_not_received_done(self, task: "asyncio.Task[None]") -> None:
+        """Callback for when the pong not received task completes."""
+        if not task.cancelled() and (exc := task.exception()):
+            self._handle_ping_pong_exception(exc)
+        self._pong_not_received_task = None
 
     def _handle_ping_pong_exception(self, exc: BaseException) -> None:
         """Handle exceptions raised during ping/pong processing."""