diff --git a/awswrangler/timestream.py b/awswrangler/timestream.py
index 8c51bf2d1..630332f52 100644
--- a/awswrangler/timestream.py
+++ b/awswrangler/timestream.py
@@ -4,7 +4,7 @@
 import itertools
 import logging
 from datetime import datetime
-from typing import Any, Dict, List, Optional, cast
+from typing import Any, Dict, Iterator, List, Optional, Union, cast
 
 import boto3
 import pandas as pd
@@ -103,6 +103,14 @@ def _process_row(schema: List[Dict[str, str]], row: Dict[str, Any]) -> List[Any]
     return row_processed
 
 
+def _rows_to_df(rows: List[List[Any]], schema: List[Dict[str, str]]) -> pd.DataFrame:
+    df = pd.DataFrame(data=rows, columns=[c["name"] for c in schema])
+    for col in schema:
+        if col["type"] == "VARCHAR":
+            df[col["name"]] = df[col["name"]].astype("string")
+    return df
+
+
 def _process_schema(page: Dict[str, Any]) -> List[Dict[str, str]]:
     schema: List[Dict[str, str]] = []
     for col in page["ColumnInfo"]:
@@ -112,6 +120,29 @@ def _process_schema(page: Dict[str, Any]) -> List[Dict[str, str]]:
     return schema
 
 
+def _paginate_query(
+    sql: str, pagination_config: Optional[Dict[str, Any]], boto3_session: Optional[boto3.Session] = None
+) -> Iterator[pd.DataFrame]:
+    client: boto3.client = _utils.client(
+        service_name="timestream-query",
+        session=boto3_session,
+        botocore_config=Config(read_timeout=60, retries={"max_attempts": 10}),
+    )
+    paginator = client.get_paginator("query")
+    rows: List[List[Any]] = []
+    schema: List[Dict[str, str]] = []
+    page_iterator = paginator.paginate(QueryString=sql, PaginationConfig=pagination_config or {})
+    for page in page_iterator:
+        if not schema:
+            schema = _process_schema(page=page)
+            _logger.debug("schema: %s", schema)
+        for row in page["Rows"]:
+            rows.append(_process_row(schema=schema, row=row))
+        if len(rows) > 0:
+            yield _rows_to_df(rows, schema)
+        rows = []
+
+
 def write(
     df: pd.DataFrame,
     database: str,
@@ -200,14 +231,19 @@ def write(
 
 
 def query(
-    sql: str, pagination_config: Optional[Dict[str, Any]] = None, boto3_session: Optional[boto3.Session] = None
-) -> pd.DataFrame:
+    sql: str,
+    chunked: bool = False,
+    pagination_config: Optional[Dict[str, Any]] = None,
+    boto3_session: Optional[boto3.Session] = None,
+) -> Union[pd.DataFrame, Iterator[pd.DataFrame]]:
     """Run a query and retrieve the result as a Pandas DataFrame.
 
     Parameters
     ----------
     sql: str
         SQL query.
+    chunked: bool
+        If True returns dataframe iterator, and a single dataframe otherwise. False by default.
     pagination_config: Dict[str, Any], optional
         Pagination configuration dictionary of a form {'MaxItems': 10, 'PageSize': 10, 'StartingToken': '...'}
     boto3_session : boto3.Session(), optional
@@ -220,31 +256,16 @@ def query(
 
     Examples
     --------
-    Running a query and storing the result as a Pandas DataFrame
+    Run a query and return the result as a Pandas DataFrame or an iterable.
 
     >>> import awswrangler as wr
     >>> df = wr.timestream.query('SELECT * FROM "sampleDB"."sampleTable" ORDER BY time DESC LIMIT 10')
 
     """
-    client: boto3.client = _utils.client(
-        service_name="timestream-query",
-        session=boto3_session,
-        botocore_config=Config(read_timeout=60, retries={"max_attempts": 10}),
-    )
-    paginator = client.get_paginator("query")
-    rows: List[List[Any]] = []
-    schema: List[Dict[str, str]] = []
-    for page in paginator.paginate(QueryString=sql, PaginationConfig=pagination_config or {}):
-        if not schema:
-            schema = _process_schema(page=page)
-        for row in page["Rows"]:
-            rows.append(_process_row(schema=schema, row=row))
-    _logger.debug("schema: %s", schema)
-    df = pd.DataFrame(data=rows, columns=[c["name"] for c in schema])
-    for col in schema:
-        if col["type"] == "VARCHAR":
-            df[col["name"]] = df[col["name"]].astype("string")
-    return df
+    result_iterator = _paginate_query(sql, pagination_config, boto3_session)
+    if chunked:
+        return result_iterator
+    return pd.concat(result_iterator, ignore_index=True)
 
 
 def create_database(
diff --git a/tests/test_timestream.py b/tests/test_timestream.py
index 0e4f26fd1..2c9a01132 100644
--- a/tests/test_timestream.py
+++ b/tests/test_timestream.py
@@ -49,6 +49,41 @@ def test_basic_scenario(timestream_database_and_table, pagination):
     assert df.shape == (3, 8)
 
 
+def test_chunked_scenario(timestream_database_and_table):
+    df = pd.DataFrame(
+        {
+            "time": [datetime.now() for _ in range(5)],
+            "dim0": ["foo", "boo", "bar", "fizz", "buzz"],
+            "dim1": [1, 2, 3, 4, 5],
+            "measure": [1.0, 1.1, 1.2, 1.3, 1.4],
+        }
+    )
+    rejected_records = wr.timestream.write(
+        df=df,
+        database=timestream_database_and_table,
+        table=timestream_database_and_table,
+        time_col="time",
+        measure_col="measure",
+        dimensions_cols=["dim0", "dim1"],
+    )
+    assert len(rejected_records) == 0
+    shapes = [(3, 5), (2, 5)]
+    for df, shape in zip(
+        wr.timestream.query(
+            f"""
+        SELECT
+            *
+        FROM "{timestream_database_and_table}"."{timestream_database_and_table}"
+        ORDER BY time ASC
+        """,
+            chunked=True,
+            pagination_config={"MaxItems": 5, "PageSize": 3},
+        ),
+        shapes,
+    ):
+        assert df.shape == shape
+
+
 def test_versioned(timestream_database_and_table):
     name = timestream_database_and_table
     time = [datetime.now(), datetime.now(), datetime.now()]