diff --git a/pymongo/change_stream.py b/pymongo/change_stream.py
index 80820dff91..0edf513a3c 100644
--- a/pymongo/change_stream.py
+++ b/pymongo/change_stream.py
@@ -68,6 +68,19 @@
     from pymongo.mongo_client import MongoClient
 
 
+def _resumable(exc: PyMongoError) -> bool:
+    """Return True if given a resumable change stream error."""
+    if isinstance(exc, (ConnectionFailure, CursorNotFound)):
+        return True
+    if isinstance(exc, OperationFailure):
+        if exc._max_wire_version is None:
+            return False
+        return (
+            exc._max_wire_version >= 9 and exc.has_error_label("ResumableChangeStreamError")
+        ) or (exc._max_wire_version < 9 and exc.code in _RESUMABLE_GETMORE_ERRORS)
+    return False
+
+
 class ChangeStream(Generic[_DocumentType]):
     """The internal abstract base class for change stream cursors.
 
@@ -343,20 +356,21 @@ def try_next(self) -> Optional[_DocumentType]:
         # Attempt to get the next change with at most one getMore and at most
         # one resume attempt.
         try:
-            change = self._cursor._try_next(True)
-        except (ConnectionFailure, CursorNotFound):
-            self._resume()
-            change = self._cursor._try_next(False)
-        except OperationFailure as exc:
-            if exc._max_wire_version is None:
-                raise
-            is_resumable = (
-                exc._max_wire_version >= 9 and exc.has_error_label("ResumableChangeStreamError")
-            ) or (exc._max_wire_version < 9 and exc.code in _RESUMABLE_GETMORE_ERRORS)
-            if not is_resumable:
-                raise
-            self._resume()
-            change = self._cursor._try_next(False)
+            try:
+                change = self._cursor._try_next(True)
+            except PyMongoError as exc:
+                if not _resumable(exc):
+                    raise
+                self._resume()
+                change = self._cursor._try_next(False)
+        except PyMongoError as exc:
+            # Close the stream after a fatal error.
+            if not _resumable(exc) and not exc.timeout:
+                self.close()
+            raise
+        except Exception:
+            self.close()
+            raise
 
         # Check if the cursor was invalidated.
         if not self._cursor.alive:
diff --git a/test/test_change_stream.py b/test/test_change_stream.py
index b5b260086d..a8b793333e 100644
--- a/test/test_change_stream.py
+++ b/test/test_change_stream.py
@@ -486,7 +486,7 @@ def _get_expected_resume_token(self, stream, listener, previous_change=None):
         return response["cursor"]["postBatchResumeToken"]
 
     @no_type_check
-    def _test_raises_error_on_missing_id(self, expected_exception, expected_exception2):
+    def _test_raises_error_on_missing_id(self, expected_exception):
         """ChangeStream will raise an exception if the server response is
         missing the resume token.
         """
@@ -494,7 +494,8 @@ def _test_raises_error_on_missing_id(self, expected_exception, expected_exceptio
             self.watched_collection().insert_one({})
             with self.assertRaises(expected_exception):
                 next(change_stream)
-            with self.assertRaises(expected_exception2):
+            # The cursor should now be closed.
+            with self.assertRaises(StopIteration):
                 next(change_stream)
 
     @no_type_check
@@ -526,14 +527,14 @@ def test_update_resume_token_legacy(self):
     # Prose test no. 2
     @client_context.require_version_min(4, 1, 8)
     def test_raises_error_on_missing_id_418plus(self):
-        # Server returns an error on 4.1.8+, subsequent next() resumes and gets the same error.
-        self._test_raises_error_on_missing_id(OperationFailure, OperationFailure)
+        # Server returns an error on 4.1.8+
+        self._test_raises_error_on_missing_id(OperationFailure)
 
     # Prose test no. 2
     @client_context.require_version_max(4, 1, 8)
     def test_raises_error_on_missing_id_418minus(self):
-        # PyMongo raises an error, closes the cursor, subsequent next() raises StopIteration.
-        self._test_raises_error_on_missing_id(InvalidOperation, StopIteration)
+        # PyMongo raises an error
+        self._test_raises_error_on_missing_id(InvalidOperation)
 
     # Prose test no. 3
     @no_type_check