diff --git a/src/core/timeouts.c b/src/core/timeouts.c
index 90a5568e..b1d94a9f 100644
--- a/src/core/timeouts.c
+++ b/src/core/timeouts.c
@@ -67,7 +67,7 @@
 #endif /* LWIP_DEBUG_TIMERNAMES */
 
 /* Check if timer's expiry time is greater than time and care about u32_t wraparounds */
-#define TIMER_LESS_THAN(timer, t) ( (((timer)->time == (t)) || (((u32_t)((timer)->time-(t))) > 0x7fffffff)) ? 1 : 0 )
+#define TIME_LESS_THAN(t, compare_to) ( (((t) == (compare_to)) || (((u32_t)((t)-(compare_to))) > 0x7fffffff)) ? 1 : 0 )
 
 /** This array contains all stack-internal cyclic timers. To get the number of
  * timers, use LWIP_ARRAYSIZE() */
@@ -115,6 +115,8 @@ const int lwip_num_cyclic_timers = LWIP_ARRAYSIZE(lwip_cyclic_timers);
 /** The one and only timeout list */
 static struct sys_timeo *next_timeout;
 
+static u32_t current_timeout_due_time;
+
 #if LWIP_TESTMODE
 struct sys_timeo**
 lwip_sys_timers_get_next_timout(void)
@@ -173,15 +175,30 @@ tcp_timer_needed(void)
  *
  * @param arg unused argument
  */
-static void
-cyclic_timer(void *arg)
+#if !LWIP_TESTMODE
+static
+#endif
+void
+lwip_cyclic_timer(void *arg)
 {
+  u32_t now;
+  u32_t next_timeout;
   const struct lwip_cyclic_timer *cyclic = (const struct lwip_cyclic_timer *)arg;
+
 #if LWIP_DEBUG_TIMERNAMES
   LWIP_DEBUGF(TIMERS_DEBUG, ("tcpip: %s()\n", cyclic->handler_name));
 #endif
   cyclic->handler();
-  sys_timeout(cyclic->interval_ms, cyclic_timer, arg);
+
+  now = sys_now();
+  next_timeout = (u32_t)(current_timeout_due_time + cyclic->interval_ms);
+  if (TIME_LESS_THAN(next_timeout, now)) {
+    /* timer would immediately expire again -> "overload" -> restart without any correction */
+    sys_timeout(cyclic->interval_ms, lwip_cyclic_timer, arg);
+  } else {
+    /* correct cyclic interval with handler execution delay and sys_check_timeouts jitter */
+    sys_timeout((u32_t)(next_timeout - now), lwip_cyclic_timer, arg);
+  }
 }
 
 /** Initialize this module */
@@ -192,7 +209,7 @@ void sys_timeouts_init(void)
   for (i = (LWIP_TCP ? 1 : 0); i < LWIP_ARRAYSIZE(lwip_cyclic_timers); i++) {
     /* we have to cast via size_t to get rid of const warning
       (this is OK as cyclic_timer() casts back to const* */
-    sys_timeout(lwip_cyclic_timers[i].interval_ms, cyclic_timer, LWIP_CONST_CAST(void *, &lwip_cyclic_timers[i]));
+    sys_timeout(lwip_cyclic_timers[i].interval_ms, lwip_cyclic_timer, LWIP_CONST_CAST(void *, &lwip_cyclic_timers[i]));
   }
 }
 
@@ -230,7 +247,7 @@ sys_timeout(u32_t msecs, sys_timeout_handler handler, void *arg)
   timeout->next = NULL;
   timeout->h = handler;
   timeout->arg = arg;
-  timeout->time = (u32_t)(now + msecs); /* overflow handled by TIMER_LESS_THAN macro */
+  timeout->time = (u32_t)(now + msecs); /* overflow handled by TIME_LESS_THAN macro */
 #if LWIP_DEBUG_TIMERNAMES
   timeout->handler_name = handler_name;
   LWIP_DEBUGF(TIMERS_DEBUG, ("sys_timeout: %p msecs=%"U32_F" handler=%s arg=%p\n",
@@ -241,12 +258,12 @@ sys_timeout(u32_t msecs, sys_timeout_handler handler, void *arg)
     next_timeout = timeout;
     return;
   }
-  if (TIMER_LESS_THAN(timeout, next_timeout->time)) {
+  if (TIME_LESS_THAN(timeout->time, next_timeout->time)) {
     timeout->next = next_timeout;
     next_timeout = timeout;
   } else {
     for (t = next_timeout; t != NULL; t = t->next) {
-      if ((t->next == NULL) || TIMER_LESS_THAN(timeout, t->next->time)) {
+      if ((t->next == NULL) || TIME_LESS_THAN(timeout->time, t->next->time)) {
         timeout->next = t->next;
         t->next = timeout;
         break;
@@ -322,12 +339,13 @@ sys_check_timeouts(void)
       had_one = 0;
       tmptimeout = next_timeout;
       now = sys_now();
-      if (tmptimeout && TIMER_LESS_THAN(tmptimeout, now)) {
+      if (tmptimeout && TIME_LESS_THAN(tmptimeout->time, now)) {
         /* timeout has expired */
         had_one = 1;
         next_timeout = tmptimeout->next;
         handler = tmptimeout->h;
         arg = tmptimeout->arg;
+        current_timeout_due_time = tmptimeout->time;
 #if LWIP_DEBUG_TIMERNAMES
         if (handler != NULL) {
           LWIP_DEBUGF(TIMERS_DEBUG, ("sct calling h=%s arg=%p\n",
@@ -373,7 +391,7 @@ sys_timeouts_sleeptime(void)
     return 0xffffffff;
   }
   now = sys_now();
-  if (TIMER_LESS_THAN(next_timeout, now)) {
+  if (TIME_LESS_THAN(next_timeout->time, now)) {
     return 0;
   } else {
     return (u32_t)(next_timeout->time - now);
diff --git a/src/include/lwip/timeouts.h b/src/include/lwip/timeouts.h
index b424a7d7..f28fa9e6 100644
--- a/src/include/lwip/timeouts.h
+++ b/src/include/lwip/timeouts.h
@@ -116,6 +116,7 @@ void sys_timeouts_mbox_fetch(sys_mbox_t *mbox, void **msg);
 
 #if LWIP_TESTMODE
 struct sys_timeo** lwip_sys_timers_get_next_timout(void);
+void lwip_cyclic_timer(void *arg);
 #endif
 
 #endif /* LWIP_TIMERS */
diff --git a/test/unit/core/test_timers.c b/test/unit/core/test_timers.c
index eae4a88f..e8318063 100644
--- a/test/unit/core/test_timers.c
+++ b/test/unit/core/test_timers.c
@@ -31,7 +31,65 @@ static void dummy_handler(void* arg)
   fired[index] = 1;
 }
 
-/* reproduce bug bug #52748: the bug in timeouts.c */
+#define HANDLER_EXECUTION_TIME 5
+static int cyclic_fired;
+static void dummy_cyclic_handler(void)
+{
+   cyclic_fired = 1;
+   lwip_sys_now += HANDLER_EXECUTION_TIME;
+}
+
+struct lwip_cyclic_timer test_cyclic = {10, dummy_cyclic_handler};
+
+void do_test_cyclic_timers(u32_t offset)
+{
+  struct sys_timeo** list_head = lwip_sys_timers_get_next_timout();
+
+  /* verify normal timer expiration */
+  lwip_sys_now = offset + 0;
+  sys_timeout(test_cyclic.interval_ms, lwip_cyclic_timer, &test_cyclic);
+
+  cyclic_fired = 0;
+  sys_check_timeouts();
+  fail_unless(cyclic_fired == 0);
+
+  lwip_sys_now = offset + test_cyclic.interval_ms;
+  sys_check_timeouts();
+  fail_unless(cyclic_fired == 1);
+
+  fail_unless((*list_head)->time == (u32_t)(lwip_sys_now + test_cyclic.interval_ms - HANDLER_EXECUTION_TIME));
+  
+  sys_untimeout(lwip_cyclic_timer, &test_cyclic);
+
+
+  /* verify "overload" - next cyclic timer execution is already overdue twice */
+  lwip_sys_now = offset + 0;
+  sys_timeout(test_cyclic.interval_ms, lwip_cyclic_timer, &test_cyclic);
+
+  cyclic_fired = 0;
+  sys_check_timeouts();
+  fail_unless(cyclic_fired == 0);
+
+  lwip_sys_now = offset + 2*test_cyclic.interval_ms;
+  sys_check_timeouts();
+  fail_unless(cyclic_fired == 1);
+
+  fail_unless((*list_head)->time == (u32_t)(lwip_sys_now + test_cyclic.interval_ms));
+}
+
+START_TEST(test_cyclic_timers)
+{
+  LWIP_UNUSED_ARG(_i);
+
+  /* check without u32_t wraparound */
+  do_test_cyclic_timers(0);
+
+  /* check with u32_t wraparound */
+  do_test_cyclic_timers(0xfffffff0);
+}
+END_TEST
+
+/* reproduce bug #52748: the bug in timeouts.c */
 START_TEST(test_bug52748)
 {
   LWIP_UNUSED_ARG(_i);
@@ -63,15 +121,11 @@ START_TEST(test_bug52748)
 }
 END_TEST
 
-START_TEST(test_timers)
+void do_test_timers(u32_t offset)
 {
   struct sys_timeo** list_head = lwip_sys_timers_get_next_timout();
-
-  LWIP_UNUSED_ARG(_i);
-
-  /* check without u32_t wraparound */
-
-  lwip_sys_now = 100;
+  
+  lwip_sys_now = offset + 0;
 
   sys_timeout(10, dummy_handler, LWIP_PTR_NUMERIC_CAST(void*, 0));
   fail_unless(sys_timeouts_sleeptime() == 10);
@@ -115,53 +169,17 @@ START_TEST(test_timers)
   sys_untimeout(dummy_handler, LWIP_PTR_NUMERIC_CAST(void*, 0));
   sys_untimeout(dummy_handler, LWIP_PTR_NUMERIC_CAST(void*, 1));
   sys_untimeout(dummy_handler, LWIP_PTR_NUMERIC_CAST(void*, 2));
+}
 
-  /* check u32_t wraparound */
+START_TEST(test_timers)
+{
+  LWIP_UNUSED_ARG(_i);
 
-  lwip_sys_now = 0xfffffff5;
+  /* check without u32_t wraparound */
+  do_test_timers(0);
 
-  sys_timeout(10, dummy_handler, LWIP_PTR_NUMERIC_CAST(void*, 0));
-  fail_unless(sys_timeouts_sleeptime() == 10);
-  sys_timeout(20, dummy_handler, LWIP_PTR_NUMERIC_CAST(void*, 1));
-  fail_unless(sys_timeouts_sleeptime() == 10);
-  sys_timeout( 5, dummy_handler, LWIP_PTR_NUMERIC_CAST(void*, 2));
-  fail_unless(sys_timeouts_sleeptime() == 5);
-
-  /* linked list correctly sorted? */
-  fail_unless((*list_head)->time             == (u32_t)(lwip_sys_now + 5));
-  fail_unless((*list_head)->next->time       == (u32_t)(lwip_sys_now + 10));
-  fail_unless((*list_head)->next->next->time == (u32_t)(lwip_sys_now + 20));
-
-  /* check timers expire in correct order */
-  memset(&fired, 0, sizeof(fired));
-
-  lwip_sys_now += 4;
-  sys_check_timeouts();
-  fail_unless(fired[2] == 0);
-
-  lwip_sys_now += 1;
-  sys_check_timeouts();
-  fail_unless(fired[2] == 1);
-
-  lwip_sys_now += 4;
-  sys_check_timeouts();
-  fail_unless(fired[0] == 0);
-
-  lwip_sys_now += 1;
-  sys_check_timeouts();
-  fail_unless(fired[0] == 1);
-
-  lwip_sys_now += 9;
-  sys_check_timeouts();
-  fail_unless(fired[1] == 0);
-
-  lwip_sys_now += 1;
-  sys_check_timeouts();
-  fail_unless(fired[1] == 1);
-
-  sys_untimeout(dummy_handler, LWIP_PTR_NUMERIC_CAST(void*, 0));
-  sys_untimeout(dummy_handler, LWIP_PTR_NUMERIC_CAST(void*, 1));
-  sys_untimeout(dummy_handler, LWIP_PTR_NUMERIC_CAST(void*, 2));
+  /* check with u32_t wraparound */
+  do_test_timers(0xfffffff0);
 }
 END_TEST
 
@@ -171,6 +189,7 @@ timers_suite(void)
 {
   testfunc tests[] = {
     TESTFUNC(test_bug52748),
+    TESTFUNC(test_cyclic_timers),
     TESTFUNC(test_timers)
   };
   testfunc tests_unused[] = {