diff --git a/rtos/ConditionVariable.cpp b/rtos/ConditionVariable.cpp
index 69be38b936..b54fe3a126 100644
--- a/rtos/ConditionVariable.cpp
+++ b/rtos/ConditionVariable.cpp
@@ -20,6 +20,7 @@
  * SOFTWARE.
  */
 #include "rtos/ConditionVariable.h"
+#include "rtos/Kernel.h"
 #include "rtos/Thread.h"
 
 #include "mbed_error.h"
@@ -27,7 +28,6 @@
 
 namespace rtos {
 
-
 ConditionVariable::Waiter::Waiter(): sem(0), prev(NULL), next(NULL), in_list(false)
 {
     // No initialization to do
@@ -64,6 +64,24 @@ bool ConditionVariable::wait_for(uint32_t millisec)
     return timeout;
 }
 
+bool ConditionVariable::wait_until(uint64_t millisec)
+{
+    uint64_t now = Kernel::get_ms_count();
+
+    if (now >= millisec) {
+        // Time has already passed - standard behaviour is to
+        // treat as a "try".
+        return wait_for(0);
+    } else if (millisec - now >= osWaitForever) {
+        // Exceeds maximum delay of underlying wait_for -
+        // spuriously wake after 49 days, indicating no timeout.
+        wait_for(osWaitForever - 1);
+        return false;
+    } else {
+        return wait_for(millisec - now);
+    }
+}
+
 void ConditionVariable::notify_one()
 {
     MBED_ASSERT(_mutex.get_owner() == Thread::gettid());
diff --git a/rtos/ConditionVariable.h b/rtos/ConditionVariable.h
index c69722d897..86fd063e03 100644
--- a/rtos/ConditionVariable.h
+++ b/rtos/ConditionVariable.h
@@ -150,6 +150,39 @@ public:
      */
     void wait();
 
+    /** Wait for a notification until specified time
+     *
+     * @param   millisec  absolute end time referenced to Kernel::get_ms_count()
+     * @return  true if a timeout occurred, false otherwise.
+     *
+     * @note - The thread calling this function must be the owner of the
+     * ConditionVariable's mutex and it must be locked exactly once
+     * @note - Spurious notifications can occur so the caller of this API
+     * should check to make sure the condition they are waiting on has
+     * been met
+     *
+     * Example:
+     * @code
+     * mutex.lock();
+     * uint64_t end_time = Kernel::get_ms_count() + COND_WAIT_TIMEOUT;
+     *
+     * while (!condition_met) {
+     *     if (cond.wait_until(end_time)) {
+     *         break;
+     *     }
+     * }
+     *
+     * if (condition_met) {
+     *     function_to_handle_condition();
+     * }
+     *
+     * mutex.unlock();
+     * @endcode
+     *
+     * @note You cannot call this function from ISR context.
+     */
+    bool wait_until(uint64_t millisec);
+
     /** Wait for a notification or timeout
      *
      * @param   millisec  timeout value or osWaitForever in case of no time-out.
@@ -164,15 +197,12 @@ public:
      * Example:
      * @code
      * mutex.lock();
-     * Timer timer;
-     * timer.start();
      *
-     * bool timed_out = false;
-     * uint32_t time_left = TIMEOUT;
-     * while (!condition_met && !timed_out) {
-     *     timed_out = cond.wait_for(time_left);
-     *     uint32_t elapsed = timer.read_ms();
-     *     time_left = elapsed > TIMEOUT ? 0 : TIMEOUT - elapsed;
+     * while (!condition_met) {
+     *     cond.wait_for(MAX_SLEEP_TIME);
+     *     if (!condition_met) {
+     *         do_other_work_while_condition_false();
+     *     }
      * }
      *
      * if (condition_met) {