diff --git a/src/MongoDB.Driver/Core/Configuration/ConnectionSettings.cs b/src/MongoDB.Driver/Core/Configuration/ConnectionSettings.cs
index 6d66cd85995..4edcdecfdbe 100644
--- a/src/MongoDB.Driver/Core/Configuration/ConnectionSettings.cs
+++ b/src/MongoDB.Driver/Core/Configuration/ConnectionSettings.cs
@@ -59,7 +59,7 @@ public ConnectionSettings(
             _connectionIdLocalValueProvider = LongIdGenerator<ConnectionId>.GetNextId;
             _libraryInfo = libraryInfo.WithDefault(null);
             _loadBalanced = loadBalanced.WithDefault(false);
-            _maxIdleTime = Ensure.IsGreaterThanZero(maxIdleTime.WithDefault(TimeSpan.FromMinutes(10)), "maxIdleTime");
+            _maxIdleTime = Ensure.IsGreaterThanOrEqualToZero(maxIdleTime.WithDefault(TimeSpan.FromMinutes(10)), "maxIdleTime");
             _maxLifeTime = Ensure.IsGreaterThanZero(maxLifeTime.WithDefault(TimeSpan.FromMinutes(30)), "maxLifeTime");
             _applicationName = ApplicationNameHelper.EnsureApplicationNameIsValid(applicationName.WithDefault(null), nameof(applicationName));
         }
@@ -79,7 +79,7 @@ internal ConnectionSettings(
             _connectionIdLocalValueProvider = connectionIdLocalValueProvider.WithDefault(LongIdGenerator<ConnectionId>.GetNextId);
             _libraryInfo = libraryInfo.WithDefault(null);
             _loadBalanced = loadBalanced.WithDefault(false);
-            _maxIdleTime = Ensure.IsGreaterThanZero(maxIdleTime.WithDefault(TimeSpan.FromMinutes(10)), "maxIdleTime");
+            _maxIdleTime = Ensure.IsGreaterThanOrEqualToZero(maxIdleTime.WithDefault(TimeSpan.FromMinutes(10)), "maxIdleTime");
             _maxLifeTime = Ensure.IsGreaterThanZero(maxLifeTime.WithDefault(TimeSpan.FromMinutes(30)), "maxLifeTime");
             _applicationName = ApplicationNameHelper.EnsureApplicationNameIsValid(applicationName.WithDefault(null), nameof(applicationName));
         }
diff --git a/src/MongoDB.Driver/Core/Connections/BinaryConnection.cs b/src/MongoDB.Driver/Core/Connections/BinaryConnection.cs
index 43a5723dab1..3f9cfd24a35 100644
--- a/src/MongoDB.Driver/Core/Connections/BinaryConnection.cs
+++ b/src/MongoDB.Driver/Core/Connections/BinaryConnection.cs
@@ -123,7 +123,7 @@ public bool IsExpired
                 }
 
                 // connection has been idle for too long
-                if (_settings.MaxIdleTime.TotalMilliseconds > -1 && now > _lastUsedAtUtc.Add(_settings.MaxIdleTime))
+                if (_settings.MaxIdleTime.TotalMilliseconds > 0 && now > _lastUsedAtUtc.Add(_settings.MaxIdleTime))
                 {
                     return true;
                 }
diff --git a/tests/MongoDB.Driver.Tests/Core/Configuration/ConnectionSettingsTests.cs b/tests/MongoDB.Driver.Tests/Core/Configuration/ConnectionSettingsTests.cs
index c98f479dda4..a97a46ed968 100644
--- a/tests/MongoDB.Driver.Tests/Core/Configuration/ConnectionSettingsTests.cs
+++ b/tests/MongoDB.Driver.Tests/Core/Configuration/ConnectionSettingsTests.cs
@@ -61,17 +61,21 @@ public void constructor_should_throw_when_compressors_is_null()
             e.ParamName.Should().Be("compressors");
         }
 
-        [Theory]
-        [ParameterAttributeData]
-        public void constructor_should_throw_when_maxIdleTime_is_negative_or_zero(
-            [Values(-1, 0)]
-            int maxIdleTime)
+        [Fact]
+        public void constructor_should_throw_when_maxIdleTime_is_negative()
         {
-            Action action = () => new ConnectionSettings(maxIdleTime: TimeSpan.FromSeconds(maxIdleTime));
+            Action action = () => new ConnectionSettings(maxIdleTime: TimeSpan.FromSeconds(-1));
 
             action.ShouldThrow<ArgumentException>().And.ParamName.Should().Be("maxIdleTime");
         }
 
+        [Fact]
+        public void constructor_should_not_throw_when_maxIdleTime_is_zero()
+        {
+            var subject = new ConnectionSettings(maxIdleTime: TimeSpan.FromSeconds(0));
+            subject.MaxIdleTime.Should().Be(TimeSpan.Zero);
+        }
+
         [Theory]
         [ParameterAttributeData]
         public void constructor_should_throw_when_maxLifeTime_is_negative_or_zero(
diff --git a/tests/MongoDB.Driver.Tests/Core/Connections/BinaryConnectionTests.cs b/tests/MongoDB.Driver.Tests/Core/Connections/BinaryConnectionTests.cs
index cfe214d5707..58d25aec012 100644
--- a/tests/MongoDB.Driver.Tests/Core/Connections/BinaryConnectionTests.cs
+++ b/tests/MongoDB.Driver.Tests/Core/Connections/BinaryConnectionTests.cs
@@ -713,6 +713,44 @@ public async Task SendMessage_should_put_the_message_on_the_stream_and_raise_the
             }
         }
 
+        [Fact]
+        public void IsExpired_should_return_false_when_maxIdleTime_has_no_limit()
+        {
+            var subject = new BinaryConnection(
+                serverId: _serverId,
+                endPoint: _endPoint,
+                settings: new ConnectionSettings(maxIdleTime: TimeSpan.FromMilliseconds(0)),
+                streamFactory: _mockStreamFactory.Object,
+                connectionInitializer: _mockConnectionInitializer.Object,
+                eventSubscriber: _capturedEvents,
+                loggerFactory: LoggerFactory,
+                tracingOptions: null,
+                socketReadTimeout: TimeSpan.FromMilliseconds(1000),
+                socketWriteTimeout: TimeSpan.FromMilliseconds(1000));
+
+            subject.Open(OperationContext.NoTimeout);
+            subject.IsExpired.Should().BeFalse();
+        }
+
+        [Fact]
+        public void IsExpired_should_return_true_when_maxIdleTime_is_exceeded()
+        {
+            var subject = new BinaryConnection(
+                serverId: _serverId,
+                endPoint: _endPoint,
+                settings: new ConnectionSettings(maxIdleTime: TimeSpan.FromMilliseconds(10), maxLifeTime: TimeSpan.FromMinutes(10)),
+                streamFactory: _mockStreamFactory.Object,
+                connectionInitializer: _mockConnectionInitializer.Object,
+                eventSubscriber: _capturedEvents,
+                loggerFactory: LoggerFactory,
+                tracingOptions: null,
+                socketReadTimeout: TimeSpan.FromMilliseconds(1000),
+                socketWriteTimeout: TimeSpan.FromMilliseconds(1000));
+
+            subject.Open(OperationContext.NoTimeout);
+            subject.IsExpired.Should().BeTrue();
+        }
+
         private void SetupStreamRead(Mock<Stream> streamMock, TaskCompletionSource<int> tcs)
         {
             streamMock.Setup(s => s.Read(It.IsAny<byte[]>(), It.IsAny<int>(), It.IsAny<int>()))
diff --git a/tests/MongoDB.Driver.Tests/MongoUrlBuilderTests.cs b/tests/MongoDB.Driver.Tests/MongoUrlBuilderTests.cs
index 9fb3c0159cf..457c1dfe1fa 100644
--- a/tests/MongoDB.Driver.Tests/MongoUrlBuilderTests.cs
+++ b/tests/MongoDB.Driver.Tests/MongoUrlBuilderTests.cs
@@ -700,6 +700,7 @@ public void TestMaxConnecting([Values(0, -1)] int incorrectMaxConnecting)
 
         [Theory]
         [InlineData(null, "mongodb://localhost", new[] { "" })]
+        [InlineData(0, "mongodb://localhost/?maxIdleTime{0}", new[] { "=0h", "MS=0", "=0ms", "=0" })]
         [InlineData(500, "mongodb://localhost/?maxIdleTime{0}", new[] { "=500ms", "=0.5", "=0.5s", "=00:00:00.5", "MS=500" })]
         [InlineData(30000, "mongodb://localhost/?maxIdleTime{0}", new[] { "=30s", "=30000ms", "=30", "=0.5m", "=00:00:30", "MS=30000" })]
         [InlineData(1800000, "mongodb://localhost/?maxIdleTime{0}", new[] { "=30m", "=1800000ms", "=1800", "=1800s", "=0.5h", "=00:30:00", "MS=1800000" })]