diff --git a/aioesphomeapi/client.py b/aioesphomeapi/client.py
index 9f6187f..030e391 100644
--- a/aioesphomeapi/client.py
+++ b/aioesphomeapi/client.py
@@ -163,6 +163,7 @@ from .model import (
 _LOGGER = logging.getLogger(__name__)
 
 DEFAULT_BLE_TIMEOUT = 30.0
+DEFAULT_BLE_DISCONNECT_TIMEOUT = 5.0
 
 ExecuteServiceDataType = Dict[
     str, Union[bool, int, float, str, List[bool], List[int], List[float], List[str]]
@@ -490,6 +491,7 @@ class APIClient:
         address: int,
         on_bluetooth_connection_state: Callable[[bool, int, int], None],
         timeout: float = DEFAULT_BLE_TIMEOUT,
+        disconnect_timeout: float = DEFAULT_BLE_DISCONNECT_TIMEOUT,
     ) -> Callable[[], None]:
         self._check_authenticated()
 
@@ -519,19 +521,30 @@ class APIClient:
             async with async_timeout.timeout(timeout):
                 await event.wait()
         except asyncio.TimeoutError as err:
+            # Disconnect before raising the exception to ensure
+            # the slot is recovered before the timeout is raised
+            # to avoid race were we run out even though we have a slot.
+            await self.bluetooth_device_disconnect(address)
+            addr = to_human_readable_address(address)
+            _LOGGER.debug("%s: Connecting timed out, waiting for disconnect", addr)
+            try:
+                async with async_timeout.timeout(disconnect_timeout):
+                    await event.wait()
+                    disconnect_timed_out = False
+            except asyncio.TimeoutError:
+                disconnect_timed_out = True
+            _LOGGER.debug("%s: Disconnect timed out: %s", addr, disconnect_timed_out)
             try:
                 unsub()
             except ValueError:
                 _LOGGER.warning(
                     "%s: Bluetooth device connection timed out but already unsubscribed",
-                    to_human_readable_address(address),
+                    addr,
                 )
-            # Disconnect before raising the exception to ensure
-            # the slot is recovered before the timeout is raised
-            # to avoid race were we run out even though we have a slot.
-            await self.bluetooth_device_disconnect(address)
             raise TimeoutAPIError(
-                f"Timeout waiting for connect response while connecting to {to_human_readable_address(address)} after {timeout}s"
+                f"Timeout waiting for connect response while connecting to {addr} "
+                f"after {timeout}s, disconnect timed out: {disconnect_timed_out}, "
+                f" after {disconnect_timeout}s"
             ) from err
 
         return unsub