diff --git a/can/interfaces/socketcan/socketcan.py b/can/interfaces/socketcan/socketcan.py
index 6dc856cbf..2770a9f9c 100644
--- a/can/interfaces/socketcan/socketcan.py
+++ b/can/interfaces/socketcan/socketcan.py
@@ -815,9 +815,11 @@ 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)
+            # poll() avoids select.select()'s ValueError for fds >= FD_SETSIZE
+            poller = select.poll()
+            poller.register(self.socket, select.POLLIN)
+            timeout_ms = -1 if timeout is None else max(0, int(timeout * 1000))
+            ready_receive_sockets = poller.poll(timeout_ms)
         except OSError as error:
             # something bad happened (e.g. the interface went down)
             raise can.CanOperationError(
@@ -857,9 +859,13 @@ def send(self, msg: Message, timeout: float | None = None) -> None:
         time_left = timeout
         data = build_can_frame(msg)
 
+        # poll() avoids select.select()'s ValueError for fds >= FD_SETSIZE
+        poller = select.poll()
+        poller.register(self.socket, select.POLLOUT)
+
         while time_left >= 0:
             # Wait for write availability
-            ready = select.select([], [self.socket], [], time_left)[1]
+            ready = poller.poll(max(0, 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_high_fd.py b/test/test_socketcan_high_fd.py
new file mode 100644
index 000000000..84bdd0586
--- /dev/null
+++ b/test/test_socketcan_high_fd.py
@@ -0,0 +1,91 @@
+#!/usr/bin/env python
+
+"""
+Regression tests for https://github.com/hardbyte/python-can/issues/2053.
+
+``SocketcanBus`` previously used ``select.select()``, which is limited by
+glibc to file descriptors below ``FD_SETSIZE`` (1024) and raises
+``ValueError: filedescriptor out of range in select()`` for higher fds.
+
+These tests verify that ``send()`` and ``recv()`` work with a socket whose
+file descriptor exceeds 1023.
+"""
+
+import unittest
+from unittest.mock import MagicMock, patch
+
+import can
+from can import Message
+from can.interfaces.socketcan.socketcan import build_can_frame
+
+from .config import IS_LINUX
+
+HIGH_FD = 2048
+
+
+@unittest.skipUnless(IS_LINUX, "socketcan is only available on Linux")
+class TestSocketcanHighFdLinux(unittest.TestCase):
+    """Verify SocketcanBus works when the underlying socket fd exceeds 1023."""
+
+    def setUp(self):
+        patcher_create = patch("can.interfaces.socketcan.socketcan.create_socket")
+        patcher_bind = patch("can.interfaces.socketcan.socketcan.bind_socket")
+
+        self.mock_create_socket = patcher_create.start()
+        self.mock_bind_socket = patcher_bind.start()
+
+        self.mock_socket = MagicMock()
+        self.mock_socket.fileno.return_value = HIGH_FD
+        self.mock_create_socket.return_value = self.mock_socket
+
+        self.bus = can.Bus(interface="socketcan", channel="can0")
+
+        self.addCleanup(patcher_create.stop)
+        self.addCleanup(patcher_bind.stop)
+
+    def tearDown(self):
+        self.bus.shutdown()
+
+    @patch("can.interfaces.socketcan.socketcan.select.poll")
+    def test_send_high_fd(self, mock_poll_factory):
+        """send() succeeds when the socket fd > 1023."""
+        poller = MagicMock()
+        # ``poll()`` returns a non-empty list to signal write readiness.
+        poller.poll.return_value = [(HIGH_FD, 4)]
+        mock_poll_factory.return_value = poller
+
+        msg = Message(arbitration_id=0x123, data=[1, 2, 3, 4, 5, 6, 7, 8])
+        frame_data = build_can_frame(msg)
+        self.mock_socket.send.return_value = len(frame_data)
+
+        self.bus.send(msg)
+
+        self.mock_socket.send.assert_called_once_with(frame_data)
+        poller.register.assert_called_once()
+
+    @patch("can.interfaces.socketcan.socketcan.capture_message")
+    @patch("can.interfaces.socketcan.socketcan.select.poll")
+    def test_recv_high_fd(self, mock_poll_factory, mock_capture):
+        """recv() succeeds when the socket fd > 1023."""
+        poller = MagicMock()
+        poller.poll.return_value = [(HIGH_FD, 1)]
+        mock_poll_factory.return_value = poller
+
+        expected_msg = Message(
+            arbitration_id=0x123,
+            data=[1, 2, 3, 4, 5, 6, 7, 8],
+            channel="can0",
+            timestamp=1000.0,
+        )
+        mock_capture.return_value = expected_msg
+
+        msg = self.bus.recv(timeout=1.0)
+
+        self.assertIsNotNone(msg)
+        self.assertEqual(msg.arbitration_id, 0x123)
+        self.assertEqual(msg.data, bytearray([1, 2, 3, 4, 5, 6, 7, 8]))
+        mock_capture.assert_called_once_with(self.mock_socket, False)
+
+
+if __name__ == "__main__":
+    unittest.main()