diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index 6ef2a7b5..11e0b290 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -10,7 +10,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python-version: ["3.10", "3.11", "3.12", "3.13"]
+        python-version: ["3.11", "3.12", "3.13"]
 
     steps:
     - uses: actions/checkout@v4
diff --git a/benchmarks/run.py b/benchmarks/run.py
index 8ffc0053..be72664a 100644
--- a/benchmarks/run.py
+++ b/benchmarks/run.py
@@ -754,9 +754,7 @@ def build_meta(args: argparse.Namespace) -> dict[str, Any]:
     """Metadata describing the code and machine the run was made on."""
     return {
         "benchmark_version": 1,
-        "timestamp": datetime_module.datetime.now(
-            datetime_module.timezone.utc
-        ).isoformat(),
+        "timestamp": datetime_module.datetime.now(datetime_module.UTC).isoformat(),
         "commit": git_commit(),
         "label": args.label,
         "python": sys.version.split()[0],
diff --git a/docs/source/intro/install.rst b/docs/source/intro/install.rst
index 0267da94..b1e3b261 100644
--- a/docs/source/intro/install.rst
+++ b/docs/source/intro/install.rst
@@ -7,7 +7,7 @@ Installation Guide
 Before We Begin
 ===============
 
-HAP-python requires Python 3.4+.
+HAP-python requires Python 3.11+.
 This guide will cover the current version of Raspbian and Ubuntu LTS.
 It is somewhat safe to assume the process for newer versions of Ubuntu
 will work.
diff --git a/pyhap/camera.py b/pyhap/camera.py
index 9c7e42d6..ae9fa8b0 100644
--- a/pyhap/camera.py
+++ b/pyhap/camera.py
@@ -25,7 +25,6 @@
 import logging
 import os
 import struct
-import sys
 from types import MappingProxyType
 from typing import TYPE_CHECKING, Any
 from uuid import UUID
@@ -50,11 +49,6 @@
     from pyhap.camera_multi_tier import MultiTierController
     from pyhap.camera_webrtc import WebRTCController
 
-if sys.version_info >= (3, 11):
-    from asyncio import timeout as async_timeout
-else:
-    from async_timeout import timeout as async_timeout
-
 SETUP_TYPES = {
     "SESSION_ID": b"\x01",
     "STATUS": b"\x02",
@@ -2263,10 +2257,10 @@ async def stop_stream(self, session_info: dict[str, Any]) -> None:
             try:
                 with contextlib.suppress(ProcessLookupError):
                     ffmpeg_process.terminate()
-                async with async_timeout(2.0):
+                async with asyncio.timeout(2.0):
                     _, stderr = await ffmpeg_process.communicate()
                 logger.debug("Stream command stderr: %s", stderr)
-            except asyncio.TimeoutError:
+            except TimeoutError:
                 logger.error(
                     "Timeout while waiting for the stream process "
                     "to terminate. Trying with kill."
diff --git a/pyhap/camera_multi_tier.py b/pyhap/camera_multi_tier.py
index c9f1f8e1..2cc21dde 100644
--- a/pyhap/camera_multi_tier.py
+++ b/pyhap/camera_multi_tier.py
@@ -748,7 +748,7 @@ async def handle_end(self, session: MultiTierSession) -> None:
             process.terminate()
         try:
             await asyncio.wait_for(process.wait(), 2.0)
-        except asyncio.TimeoutError:
+        except TimeoutError:
             logger.warning("[%s] Killing the stream process", session.id)
             with contextlib.suppress(ProcessLookupError):
                 process.kill()
diff --git a/pyhap/camera_stream.py b/pyhap/camera_stream.py
index 73ce1bad..38099a2c 100644
--- a/pyhap/camera_stream.py
+++ b/pyhap/camera_stream.py
@@ -340,7 +340,7 @@ async def _release(self, session: _S, hooks: list[asyncio.Task[Any]]) -> bool:
                 )
         try:
             await asyncio.wait_for(self._release_hook(session), self.hook_timeout)
-        except asyncio.TimeoutError:
+        except TimeoutError:
             logger.warning("[%s] Releasing the session timed out", session.id)
             return False
         # The delegate may fail in many ways, the session is gone anyway.
diff --git a/pyhap/camera_talkback.py b/pyhap/camera_talkback.py
index a6c62310..fcfec43c 100644
--- a/pyhap/camera_talkback.py
+++ b/pyhap/camera_talkback.py
@@ -199,10 +199,7 @@ def _run(self) -> None:
             try:
                 data, addr = self._sock.recvfrom(2048)
             except TimeoutError:
-                # socket.timeout aliases TimeoutError from Python 3.10 on, but
-                # is an OSError subclass on 3.9, which this project supports,
-                # so catching TimeoutError here would kill the receiver thread
-                # on the first (0.5s) poll timeout on Python 3.9.
+                # The 0.5 s poll timeout, check the stop event again.
                 continue
             except OSError:
                 break
diff --git a/pyhap/hap_handler.py b/pyhap/hap_handler.py
index b3a26bfb..7b04d91f 100644
--- a/pyhap/hap_handler.py
+++ b/pyhap/hap_handler.py
@@ -8,7 +8,6 @@
 from http import HTTPStatus
 import inspect
 import logging
-import sys
 from typing import TYPE_CHECKING, Any, cast
 from urllib.parse import ParseResult, parse_qs, urlparse
 import uuid
@@ -33,11 +32,6 @@
 from .state import State
 from .util import from_hap_json, to_hap_json
 
-if sys.version_info >= (3, 11):
-    from asyncio import timeout as async_timeout
-else:
-    from async_timeout import timeout as async_timeout
-
 if TYPE_CHECKING:
     from .accessory_driver import AccessoryDriver
 
@@ -105,7 +99,7 @@ class UnprivilegedRequestException(Exception):
 
 async def _run_with_timeout(coro: Awaitable[bytes], timeout: float) -> bytes:
     """Run a coroutine with a timeout."""
-    async with async_timeout(timeout):
+    async with asyncio.timeout(timeout):
         return await coro
 
 
diff --git a/pyhap/hds_server.py b/pyhap/hds_server.py
index c059dd8c..785ee888 100644
--- a/pyhap/hds_server.py
+++ b/pyhap/hds_server.py
@@ -174,7 +174,7 @@ async def drain(self) -> None:
         """
         try:
             await asyncio.wait_for(self._can_write.wait(), _DRAIN_TIMEOUT)
-        except asyncio.TimeoutError:
+        except TimeoutError:
             logger.info("Aborting HDS connection: peer stopped reading")
             self.abort()
             # connection_lost wakes us and cancels the recording streams, so a
diff --git a/pyhap/util.py b/pyhap/util.py
index ff1200fd..d540ced9 100644
--- a/pyhap/util.py
+++ b/pyhap/util.py
@@ -5,7 +5,6 @@
 import inspect
 import random
 import socket
-import sys
 from typing import Any, cast
 from uuid import UUID
 
@@ -13,11 +12,6 @@
 
 from .const import BASE_UUID
 
-if sys.version_info >= (3, 11):
-    from asyncio import timeout as async_timeout
-else:
-    from async_timeout import timeout as async_timeout
-
 ALPHANUM = "0123456789ABCDEFGHIJKLMNOPQRSTUVWXYZ"
 HEX_DIGITS = "0123456789ABCDEF"
 _BACKGROUND_TASKS: set[asyncio.Task[Any]] = set()
@@ -147,9 +141,9 @@ async def event_wait(event: asyncio.Event, timeout: float) -> bool:
     :rtype: bool
     """
     try:
-        async with async_timeout(timeout):
+        async with asyncio.timeout(timeout):
             await event.wait()
-    except asyncio.TimeoutError:
+    except TimeoutError:
         pass
     return event.is_set()
 
diff --git a/pyproject.toml b/pyproject.toml
index f5ce1f42..841aec15 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -8,14 +8,13 @@ license = "Apache-2.0"
 description = "HomeKit Accessory Protocol implementation in python"
 readme = "README.md"
 authors = [{ name = "Ivan Kalchev" }]
-requires-python = ">=3.10"
+requires-python = ">=3.11"
 classifiers = [
     "Development Status :: 5 - Production/Stable",
     "Intended Audience :: Developers",
     "Intended Audience :: End Users/Desktop",
     "Natural Language :: English",
     "Operating System :: OS Independent",
-    "Programming Language :: Python :: 3.10",
     "Programming Language :: Python :: 3.11",
     "Programming Language :: Python :: 3.12",
     "Programming Language :: Python :: 3.13",
@@ -23,7 +22,6 @@ classifiers = [
     "Topic :: Software Development :: Libraries :: Python Modules",
 ]
 dependencies = [
-    "async_timeout;python_version<'3.11'",
     "cryptography",
     "chacha20poly1305-reuseable",
     "orjson>=3.7.2",
@@ -61,7 +59,7 @@ version = { attr = "pyhap.const.__version__" }
 
 [tool.ruff]
 line-length = 88
-target-version = "py310"
+target-version = "py311"
 # Directories previously excluded from black.
 exclude = ["generated"]
 
@@ -146,7 +144,7 @@ include = [
 ]
 
 [tool.ty.environment]
-python-version = "3.10"
+python-version = "3.11"
 
 [tool.pytest.ini_options]
 testpaths = [
diff --git a/tests/test_camera.py b/tests/test_camera.py
index 62bf32b8..dc3dec9b 100644
--- a/tests/test_camera.py
+++ b/tests/test_camera.py
@@ -742,7 +742,7 @@ async def test_stop_stream_kill_after_process_exited(mock_driver: Any) -> None:
     """Verify the kill fallback tolerates a process that exited meanwhile."""
     acc = camera.Camera(_OPTIONS, mock_driver, "Camera")
     process = Mock()
-    process.communicate = AsyncMock(side_effect=asyncio.TimeoutError)
+    process.communicate = AsyncMock(side_effect=TimeoutError)
     process.kill.side_effect = ProcessLookupError
     process.wait = AsyncMock(return_value=0)
     session_info = {
diff --git a/tests/test_hap_protocol.py b/tests/test_hap_protocol.py
index 95de4e2e..22953be8 100644
--- a/tests/test_hap_protocol.py
+++ b/tests/test_hap_protocol.py
@@ -1199,7 +1199,7 @@ async def test_camera_snapshot_times_out(driver: AccessoryDriver) -> None:
     connections = {}
 
     def _get_snapshot(*_: Any) -> NoReturn:
-        raise asyncio.TimeoutError("timeout")
+        raise TimeoutError("timeout")
 
     acc = Accessory(driver, "TestAcc")
     # Camera-only snapshot method, attached dynamically so the
diff --git a/tox.ini b/tox.ini
index cabd6d4a..f245245d 100644
--- a/tox.ini
+++ b/tox.ini
@@ -1,10 +1,9 @@
 [tox]
-envlist = py310, py311, py312, py313, docs, lint, ty
+envlist = py311, py312, py313, docs, lint, ty
 skip_missing_interpreters = True
 
 [gh-actions]
 python =
-    3.10: py310
     3.11: py311
     3.12: py312
     3.13: py313
@@ -64,8 +63,5 @@ extras =
     bench
 deps =
     -r{toxinidir}/requirements_test.txt
-    # ty type checks against python-version 3.10, where hap_handler
-    # imports async_timeout instead of asyncio.timeout.
-    async_timeout
 commands =
     ty check