diff --git a/can/interfaces/socketcan/socketcan.py b/can/interfaces/socketcan/socketcan.py
index 6dc856cbf..2e17ff50f 100644
--- a/can/interfaces/socketcan/socketcan.py
+++ b/can/interfaces/socketcan/socketcan.py
@@ -741,6 +741,14 @@ def __init__(
         self._task_id_guard = threading.Lock()
         self._can_protocol = CanProtocol.CAN_FD if fd else CanProtocol.CAN_20
 
+        # poll() avoids select.select()'s ValueError for fds >= FD_SETSIZE.
+        # One poller per direction so a writable socket cannot wake up a
+        # blocking receive and concurrent send/recv share no state.
+        self._poll_in = select.poll()
+        self._poll_in.register(self.socket, select.POLLIN)
+        self._poll_out = select.poll()
+        self._poll_out.register(self.socket, select.POLLOUT)
+
         # set the local_loopback parameter
         try:
             self.socket.setsockopt(
@@ -815,9 +823,8 @@ def shutdown(self) -> None:
 
     def _recv_internal(self, timeout: float | None) -> tuple[Message | None, bool]:
         try:
-            # get all sockets that are ready (can be a list with a single value
-            # being self.socket or an empty list if self.socket is not ready)
-            ready_receive_sockets, _, _ = select.select([self.socket], [], [], timeout)
+            timeout_ms = -1 if timeout is None else max(0, int(timeout * 1000))
+            ready_receive_sockets = self._poll_in.poll(timeout_ms)
         except OSError as error:
             # something bad happened (e.g. the interface went down)
             raise can.CanOperationError(
@@ -859,7 +866,7 @@ def send(self, msg: Message, timeout: float | None = None) -> None:
 
         while time_left >= 0:
             # Wait for write availability
-            ready = select.select([], [self.socket], [], time_left)[1]
+            ready = self._poll_out.poll(int(time_left * 1000))
             if not ready:
                 # Timeout
                 break
diff --git a/doc/changelog.d/2053.fixed.rst b/doc/changelog.d/2053.fixed.rst
new file mode 100644
index 000000000..fa24644da
--- /dev/null
+++ b/doc/changelog.d/2053.fixed.rst
@@ -0,0 +1 @@
+``SocketcanBus`` now uses ``select.poll()`` instead of ``select.select()`` so that socket file descriptors above ``FD_SETSIZE`` (1024 on glibc) no longer raise ``ValueError: filedescriptor out of range in select()``.
diff --git a/test/test_socketcan.py b/test/test_socketcan.py
index 9d042f425..beeb1031a 100644
--- a/test/test_socketcan.py
+++ b/test/test_socketcan.py
@@ -5,6 +5,7 @@
 """
 
 import ctypes
+import select
 import struct
 import sys
 import unittest
@@ -26,6 +27,7 @@
     build_bcm_transmit_header,
     build_bcm_tx_delete_header,
     build_bcm_update_header,
+    build_can_frame,
 )
 
 from .config import IS_LINUX, IS_PYPY, TEST_INTERFACE_SOCKETCAN
@@ -391,5 +393,52 @@ def test_pypy_socketcan_support(self):
                 )
 
 
+@unittest.skipUnless(IS_LINUX, "socketcan is only available on Linux")
+class SocketCANHighFdTest(unittest.TestCase):
+    """SocketcanBus must work with socket fds above FD_SETSIZE, see #2053."""
+
+    HIGH_FD = 2048
+
+    def setUp(self):
+        patcher_poll = patch("can.interfaces.socketcan.socketcan.select.poll")
+        patcher_create = patch("can.interfaces.socketcan.socketcan.create_socket")
+        patcher_bind = patch("can.interfaces.socketcan.socketcan.bind_socket")
+        self.mock_poller = patcher_poll.start().return_value
+        self.mock_socket = patcher_create.start().return_value
+        patcher_bind.start()
+        self.addCleanup(patcher_poll.stop)
+        self.addCleanup(patcher_create.stop)
+        self.addCleanup(patcher_bind.stop)
+
+        self.mock_socket.fileno.return_value = self.HIGH_FD
+        self.bus = can.Bus(interface="socketcan", channel="can0")
+        self.addCleanup(self.bus.shutdown)
+
+    def test_send_high_fd(self):
+        self.mock_poller.poll.return_value = [(self.HIGH_FD, select.POLLOUT)]
+        msg = can.Message(arbitration_id=0x123, data=[1, 2, 3, 4, 5, 6, 7, 8])
+        frame = build_can_frame(msg)
+        self.mock_socket.send.return_value = len(frame)
+
+        self.bus.send(msg)
+
+        self.mock_socket.send.assert_called_once_with(frame)
+
+    def test_recv_high_fd(self):
+        self.mock_poller.poll.return_value = [(self.HIGH_FD, select.POLLIN)]
+        expected_msg = can.Message(
+            arbitration_id=0x123, data=[1, 2, 3, 4, 5, 6, 7, 8], timestamp=1000.0
+        )
+        with patch(
+            "can.interfaces.socketcan.socketcan.capture_message"
+        ) as mock_capture:
+            mock_capture.return_value = expected_msg
+            msg = self.bus.recv(timeout=1.0)
+
+        self.assertIsNotNone(msg)
+        self.assertEqual(msg.arbitration_id, 0x123)
+        mock_capture.assert_called_once_with(self.mock_socket, False)
+
+
 if __name__ == "__main__":
     unittest.main()