diff --git a/CHANGELOG.md b/CHANGELOG.md
index 36585ad88d65..bbfa3ec54860 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -5,6 +5,7 @@
 ### Fixes
 
 - `[expect, @jest/expect]` Provide type of `actual` as a generic argument to `Matchers` to allow better-typed extensions ([#13848](https://github.com/facebook/jest/pull/13848))
+- `[jest-circus]` Added explicit mention of test failing because `done()` is not being called in error message ([#13847](https://github.com/facebook/jest/pull/13847))
 
 ### Chore & Maintenance
 
diff --git a/e2e/__tests__/__snapshots__/timeouts.test.ts.snap b/e2e/__tests__/__snapshots__/timeouts.test.ts.snap
index 45abed912e71..70a79392c7cc 100644
--- a/e2e/__tests__/__snapshots__/timeouts.test.ts.snap
+++ b/e2e/__tests__/__snapshots__/timeouts.test.ts.snap
@@ -41,3 +41,11 @@ Snapshots:   0 total
 Time:        <<REPLACED>>
 Ran all test suites."
 `;
+
+exports[`exceeds the timeout specifying that \`done\` has not been called 1`] = `
+"Test Suites: 1 failed, 1 total
+Tests:       1 failed, 1 total
+Snapshots:   0 total
+Time:        <<REPLACED>>
+Ran all test suites."
+`;
diff --git a/e2e/__tests__/timeouts.test.ts b/e2e/__tests__/timeouts.test.ts
index 0e28573f7185..b15f08bf6270 100644
--- a/e2e/__tests__/timeouts.test.ts
+++ b/e2e/__tests__/timeouts.test.ts
@@ -107,3 +107,24 @@ test('does not exceed the command line testTimeout', () => {
   expect(summary).toMatchSnapshot();
   expect(exitCode).toBe(0);
 });
+
+test('exceeds the timeout specifying that `done` has not been called', () => {
+  writeFiles(DIR, {
+    '__tests__/a-banana.js': `
+      jest.setTimeout(20);
+
+      test('banana', (done) => {
+        expect(1 + 1).toBe(2);
+      });
+    `,
+    'package.json': '{}',
+  });
+
+  const {stderr, exitCode} = runJest(DIR, ['-w=1', '--ci=false']);
+  const {rest, summary} = extractSummary(stderr);
+  expect(rest).toMatch(
+    /(jest\.setTimeout|Exceeded timeout\.while waiting for `done()` to be called)/,
+  );
+  expect(summary).toMatchSnapshot();
+  expect(exitCode).toBe(1);
+});
diff --git a/packages/jest-circus/src/utils.ts b/packages/jest-circus/src/utils.ts
index d45bf21e91f5..65c9a295dc66 100644
--- a/packages/jest-circus/src/utils.ts
+++ b/packages/jest-circus/src/utils.ts
@@ -171,9 +171,15 @@ export const describeBlockHasTests = (
     child => child.type === 'test' || describeBlockHasTests(child),
   );
 
-const _makeTimeoutMessage = (timeout: number, isHook: boolean) =>
+const _makeTimeoutMessage = (
+  timeout: number,
+  isHook: boolean,
+  takesDoneCallback: boolean,
+) =>
   `Exceeded timeout of ${formatTime(timeout)} for a ${
     isHook ? 'hook' : 'test'
+  }${
+    takesDoneCallback && ' while waiting for `done()` to be called'
   }.\nUse jest.setTimeout(newTimeout) to increase the timeout value, if this is a long-running test.`;
 
 // Global values can be overwritten by mocks or tests. We'll capture
@@ -193,16 +199,17 @@ export const callAsyncCircusFn = (
   let completed = false;
 
   const {fn, asyncError} = testOrHook;
+  const doneCallback = takesDoneCallback(fn);
 
   return new Promise<void>((resolve, reject) => {
     timeoutID = setTimeout(
-      () => reject(_makeTimeoutMessage(timeout, isHook)),
+      () => reject(_makeTimeoutMessage(timeout, isHook, doneCallback)),
       timeout,
     );
 
     // If this fn accepts `done` callback we return a promise that fulfills as
     // soon as `done` called.
-    if (takesDoneCallback(fn)) {
+    if (doneCallback) {
       let returnedValue: unknown = undefined;
 
       const done = (reason?: Error | string): void => {