diff --git a/rush-gateway/README.md b/rush-gateway/README.md
index 08f1180..917c6cb 100644
--- a/rush-gateway/README.md
+++ b/rush-gateway/README.md
@@ -13,7 +13,15 @@ Spring Cloud Gateway. 외부 요청을 받는 유일한 입구이며, JWT 검증
 | `/live/**` | rush-live (Go, WebSocket) |
 | `/chat/**` | rush-chat (Go, WebSocket) |
 
-WebSocket을 제외한 라우트는 서킷브레이커를 거칩니다. 서비스에 연결할 수 없거나 5초 안에 응답이 없으면 `/fallback`이 `503`을 돌려줍니다.
+WebSocket을 제외한 라우트는 서킷브레이커를 거칩니다. 서비스에 연결할 수 없으면 `503`, 5초 안에 응답이 없으면 `504`를 돌려줍니다.
+
+게이트웨이가 만드는 에러는 모두 같은 형식입니다.
+
+```json
+{ "code": "UNAUTHORIZED", "message": "인증이 필요합니다." }
+```
+
+모든 요청에 `X-Request-Id`를 새로 붙여 서비스와 응답에 넘기고, 메서드·경로·상태·소요 시간·사용자 ID를 한 줄로 남깁니다.
 
 ## 실행
 
diff --git a/rush-gateway/src/main/kotlin/com/rush/gateway/error/ErrorResponse.kt b/rush-gateway/src/main/kotlin/com/rush/gateway/error/ErrorResponse.kt
new file mode 100644
index 0000000..fbafc7e
--- /dev/null
+++ b/rush-gateway/src/main/kotlin/com/rush/gateway/error/ErrorResponse.kt
@@ -0,0 +1,21 @@
+package com.rush.gateway.error
+
+import org.springframework.http.HttpStatus
+
+data class ErrorResponse(
+    val code: String,
+    val message: String,
+) {
+    companion object {
+        fun of(status: HttpStatus) = ErrorResponse(status.name, messageOf(status))
+
+        private fun messageOf(status: HttpStatus) =
+            when (status) {
+                HttpStatus.UNAUTHORIZED -> "인증이 필요합니다."
+                HttpStatus.NOT_FOUND -> "요청한 경로를 찾을 수 없습니다."
+                HttpStatus.SERVICE_UNAVAILABLE -> "일시적으로 서비스를 사용할 수 없습니다. 잠시 후 다시 시도해 주세요."
+                HttpStatus.GATEWAY_TIMEOUT -> "서비스 응답이 지연되고 있습니다. 잠시 후 다시 시도해 주세요."
+                else -> if (status.is5xxServerError) "서버 오류가 발생했습니다." else status.reasonPhrase
+            }
+    }
+}
diff --git a/rush-gateway/src/main/kotlin/com/rush/gateway/error/ErrorResponseWriter.kt b/rush-gateway/src/main/kotlin/com/rush/gateway/error/ErrorResponseWriter.kt
new file mode 100644
index 0000000..975667b
--- /dev/null
+++ b/rush-gateway/src/main/kotlin/com/rush/gateway/error/ErrorResponseWriter.kt
@@ -0,0 +1,24 @@
+package com.rush.gateway.error
+
+import com.fasterxml.jackson.databind.ObjectMapper
+import org.springframework.http.HttpStatus
+import org.springframework.http.MediaType
+import org.springframework.stereotype.Component
+import org.springframework.web.server.ServerWebExchange
+import reactor.core.publisher.Mono
+
+@Component
+class ErrorResponseWriter(
+    private val objectMapper: ObjectMapper,
+) {
+    fun write(
+        exchange: ServerWebExchange,
+        status: HttpStatus,
+    ): Mono<Void> {
+        val response = exchange.response
+        response.statusCode = status
+        response.headers.contentType = MediaType.APPLICATION_JSON
+        val body = objectMapper.writeValueAsBytes(ErrorResponse.of(status))
+        return response.writeWith(Mono.just(response.bufferFactory().wrap(body)))
+    }
+}
diff --git a/rush-gateway/src/main/kotlin/com/rush/gateway/error/GlobalErrorHandler.kt b/rush-gateway/src/main/kotlin/com/rush/gateway/error/GlobalErrorHandler.kt
new file mode 100644
index 0000000..d8a08d4
--- /dev/null
+++ b/rush-gateway/src/main/kotlin/com/rush/gateway/error/GlobalErrorHandler.kt
@@ -0,0 +1,41 @@
+package com.rush.gateway.error
+
+import org.slf4j.LoggerFactory
+import org.springframework.boot.web.reactive.error.ErrorWebExceptionHandler
+import org.springframework.core.annotation.Order
+import org.springframework.http.HttpStatus
+import org.springframework.stereotype.Component
+import org.springframework.web.server.ResponseStatusException
+import org.springframework.web.server.ServerWebExchange
+import reactor.core.publisher.Mono
+import java.net.ConnectException
+import java.util.concurrent.TimeoutException
+
+@Order(-2)
+@Component
+class GlobalErrorHandler(
+    private val writer: ErrorResponseWriter,
+) : ErrorWebExceptionHandler {
+    private val log = LoggerFactory.getLogger(javaClass)
+
+    override fun handle(
+        exchange: ServerWebExchange,
+        ex: Throwable,
+    ): Mono<Void> {
+        if (exchange.response.isCommitted) return Mono.error(ex)
+
+        val status = statusOf(ex)
+        if (status.is5xxServerError) {
+            log.error("요청 처리 실패 {} {}", exchange.request.method, exchange.request.path, ex)
+        }
+        return writer.write(exchange, status)
+    }
+
+    private fun statusOf(ex: Throwable) =
+        when (ex) {
+            is ResponseStatusException -> HttpStatus.resolve(ex.statusCode.value()) ?: HttpStatus.INTERNAL_SERVER_ERROR
+            is ConnectException -> HttpStatus.SERVICE_UNAVAILABLE
+            is TimeoutException -> HttpStatus.GATEWAY_TIMEOUT
+            else -> HttpStatus.INTERNAL_SERVER_ERROR
+        }
+}
diff --git a/rush-gateway/src/main/kotlin/com/rush/gateway/fallback/FallbackController.kt b/rush-gateway/src/main/kotlin/com/rush/gateway/fallback/FallbackController.kt
index f11cea7..913316f 100644
--- a/rush-gateway/src/main/kotlin/com/rush/gateway/fallback/FallbackController.kt
+++ b/rush-gateway/src/main/kotlin/com/rush/gateway/fallback/FallbackController.kt
@@ -1,17 +1,31 @@
 package com.rush.gateway.fallback
 
+import com.rush.gateway.error.ErrorResponse
+import org.slf4j.LoggerFactory
+import org.springframework.cloud.gateway.route.Route
+import org.springframework.cloud.gateway.support.ServerWebExchangeUtils.CIRCUITBREAKER_EXECUTION_EXCEPTION_ATTR
+import org.springframework.cloud.gateway.support.ServerWebExchangeUtils.GATEWAY_ROUTE_ATTR
 import org.springframework.http.HttpStatus
+import org.springframework.http.ResponseEntity
 import org.springframework.web.bind.annotation.RequestMapping
-import org.springframework.web.bind.annotation.ResponseStatus
 import org.springframework.web.bind.annotation.RestController
+import org.springframework.web.server.ServerWebExchange
+import java.util.concurrent.TimeoutException
 
 @RestController
 class FallbackController {
+    private val log = LoggerFactory.getLogger(javaClass)
+
     @RequestMapping("/fallback")
-    @ResponseStatus(HttpStatus.SERVICE_UNAVAILABLE)
-    fun fallback() =
-        mapOf(
-            "code" to "SERVICE_UNAVAILABLE",
-            "message" to "일시적으로 서비스를 사용할 수 없습니다. 잠시 후 다시 시도해 주세요.",
+    fun fallback(exchange: ServerWebExchange): ResponseEntity<ErrorResponse> {
+        val cause = exchange.getAttribute<Throwable>(CIRCUITBREAKER_EXECUTION_EXCEPTION_ATTR)
+        val status = if (cause is TimeoutException) HttpStatus.GATEWAY_TIMEOUT else HttpStatus.SERVICE_UNAVAILABLE
+        log.warn(
+            "fallback route={} status={} cause={}",
+            exchange.getAttribute<Route>(GATEWAY_ROUTE_ATTR)?.id,
+            status.value(),
+            cause.toString(),
         )
+        return ResponseEntity.status(status).body(ErrorResponse.of(status))
+    }
 }
diff --git a/rush-gateway/src/main/kotlin/com/rush/gateway/filter/AccessLogFilter.kt b/rush-gateway/src/main/kotlin/com/rush/gateway/filter/AccessLogFilter.kt
new file mode 100644
index 0000000..16ac557
--- /dev/null
+++ b/rush-gateway/src/main/kotlin/com/rush/gateway/filter/AccessLogFilter.kt
@@ -0,0 +1,52 @@
+package com.rush.gateway.filter
+
+import org.slf4j.LoggerFactory
+import org.springframework.core.Ordered
+import org.springframework.stereotype.Component
+import org.springframework.web.server.ServerWebExchange
+import org.springframework.web.server.WebFilter
+import org.springframework.web.server.WebFilterChain
+import reactor.core.publisher.Mono
+import java.util.UUID
+
+@Component
+class AccessLogFilter :
+    WebFilter,
+    Ordered {
+    private val log = LoggerFactory.getLogger(javaClass)
+
+    override fun filter(
+        exchange: ServerWebExchange,
+        chain: WebFilterChain,
+    ): Mono<Void> {
+        val requestId = UUID.randomUUID().toString()
+        val request =
+            exchange.request
+                .mutate()
+                .headers { it.set(REQUEST_ID_HEADER, requestId) }
+                .build()
+        exchange.response.headers.set(REQUEST_ID_HEADER, requestId)
+
+        val path = exchange.request.path.value()
+        if (path.startsWith("/actuator/")) return chain.filter(exchange.mutate().request(request).build())
+
+        val start = System.nanoTime()
+        return chain.filter(exchange.mutate().request(request).build()).doFinally {
+            log.info(
+                "{} {} {} {}ms requestId={} userId={}",
+                exchange.request.method,
+                path,
+                exchange.response.statusCode?.value(),
+                (System.nanoTime() - start) / 1_000_000,
+                requestId,
+                exchange.getAttribute<String>(JwtAuthenticationFilter.USER_ID_HEADER) ?: "-",
+            )
+        }
+    }
+
+    override fun getOrder() = Ordered.HIGHEST_PRECEDENCE
+
+    companion object {
+        const val REQUEST_ID_HEADER = "X-Request-Id"
+    }
+}
diff --git a/rush-gateway/src/main/kotlin/com/rush/gateway/filter/JwtAuthenticationFilter.kt b/rush-gateway/src/main/kotlin/com/rush/gateway/filter/JwtAuthenticationFilter.kt
index 0eb5382..12d8aa8 100644
--- a/rush-gateway/src/main/kotlin/com/rush/gateway/filter/JwtAuthenticationFilter.kt
+++ b/rush-gateway/src/main/kotlin/com/rush/gateway/filter/JwtAuthenticationFilter.kt
@@ -1,5 +1,6 @@
 package com.rush.gateway.filter
 
+import com.rush.gateway.error.ErrorResponseWriter
 import io.jsonwebtoken.Jwts
 import io.jsonwebtoken.security.Keys
 import org.springframework.beans.factory.annotation.Value
@@ -18,6 +19,7 @@ import reactor.core.publisher.Mono
 @Component
 class JwtAuthenticationFilter(
     @Value("\${jwt.secret}") secret: String,
+    private val errorResponseWriter: ErrorResponseWriter,
 ) : GlobalFilter,
     Ordered {
     private val key = Keys.hmacShaKeyFor(secret.toByteArray())
@@ -52,14 +54,12 @@ class JwtAuthenticationFilter(
                     .payload.subject
             }.getOrNull() ?: return unauthorized(exchange)
 
+        exchange.attributes[USER_ID_HEADER] = userId
         val authed = sanitized.mutate().header(USER_ID_HEADER, userId).build()
         return chain.filter(exchange.mutate().request(authed).build())
     }
 
-    private fun unauthorized(exchange: ServerWebExchange): Mono<Void> {
-        exchange.response.statusCode = HttpStatus.UNAUTHORIZED
-        return exchange.response.setComplete()
-    }
+    private fun unauthorized(exchange: ServerWebExchange): Mono<Void> = errorResponseWriter.write(exchange, HttpStatus.UNAUTHORIZED)
 
     override fun getOrder() = -1
 
diff --git a/rush-gateway/src/main/resources/application.yml b/rush-gateway/src/main/resources/application.yml
index 9dc3988..e88a912 100644
--- a/rush-gateway/src/main/resources/application.yml
+++ b/rush-gateway/src/main/resources/application.yml
@@ -10,6 +10,8 @@ spring:
     gateway:
       server:
         webflux:
+          httpclient:
+            connect-timeout: 3000
           routes:
             # ---- Spring 서비스: Eureka에서 찾아갑니다 (lb://서비스이름) ----
             - id: rush-auth
diff --git a/rush-gateway/src/test/kotlin/com/rush/gateway/error/GatewayErrorTest.kt b/rush-gateway/src/test/kotlin/com/rush/gateway/error/GatewayErrorTest.kt
new file mode 100644
index 0000000..c6e902d
--- /dev/null
+++ b/rush-gateway/src/test/kotlin/com/rush/gateway/error/GatewayErrorTest.kt
@@ -0,0 +1,55 @@
+package com.rush.gateway.error
+
+import org.junit.jupiter.api.Test
+import org.springframework.beans.factory.annotation.Autowired
+import org.springframework.boot.test.autoconfigure.web.reactive.AutoConfigureWebTestClient
+import org.springframework.boot.test.context.SpringBootTest
+import org.springframework.http.HttpStatus
+import org.springframework.http.MediaType
+import org.springframework.test.web.reactive.server.WebTestClient
+
+@SpringBootTest(
+    webEnvironment = SpringBootTest.WebEnvironment.RANDOM_PORT,
+    properties = [
+        "spring.cloud.config.enabled=false",
+        "eureka.client.enabled=false",
+        "jwt.secret=test-secret-key-for-gateway-error-test-0123456789",
+    ],
+)
+@AutoConfigureWebTestClient
+class GatewayErrorTest {
+    @Autowired
+    lateinit var client: WebTestClient
+
+    @Test
+    fun `토큰이 없으면 401 공통 응답을 준다`() {
+        client
+            .get()
+            .uri("/shop/items")
+            .exchange()
+            .expectStatus()
+            .isEqualTo(HttpStatus.UNAUTHORIZED)
+            .expectHeader()
+            .contentType(MediaType.APPLICATION_JSON)
+            .expectHeader()
+            .exists("X-Request-Id")
+            .expectBody()
+            .jsonPath("$.code")
+            .isEqualTo("UNAUTHORIZED")
+    }
+
+    @Test
+    fun `없는 경로는 404 공통 응답을 준다`() {
+        client
+            .get()
+            .uri("/unknown")
+            .exchange()
+            .expectStatus()
+            .isEqualTo(HttpStatus.NOT_FOUND)
+            .expectBody()
+            .jsonPath("$.code")
+            .isEqualTo("NOT_FOUND")
+            .jsonPath("$.message")
+            .isEqualTo("요청한 경로를 찾을 수 없습니다.")
+    }
+}
diff --git a/rush-gateway/src/test/kotlin/com/rush/gateway/fallback/FallbackTest.kt b/rush-gateway/src/test/kotlin/com/rush/gateway/fallback/FallbackTest.kt
index 40333e2..aad997b 100644
--- a/rush-gateway/src/test/kotlin/com/rush/gateway/fallback/FallbackTest.kt
+++ b/rush-gateway/src/test/kotlin/com/rush/gateway/fallback/FallbackTest.kt
@@ -15,6 +15,7 @@ import org.springframework.test.web.reactive.server.WebTestClient
 import java.net.InetSocketAddress
 import java.net.ServerSocket
 import java.time.Duration
+import java.util.concurrent.Executors
 
 private const val SECRET = "test-secret-key-for-gateway-fallback-test-0123456789"
 
@@ -24,6 +25,7 @@ private const val SECRET = "test-secret-key-for-gateway-fallback-test-0123456789
         "spring.cloud.config.enabled=false",
         "eureka.client.enabled=false",
         "jwt.secret=$SECRET",
+        "resilience4j.timelimiter.configs.default.timeout-duration=3s",
     ],
 )
 @AutoConfigureWebTestClient(timeout = "10s")
@@ -58,6 +60,20 @@ class FallbackTest {
             .isEqualTo("SERVICE_UNAVAILABLE")
     }
 
+    @Test
+    fun `타임아웃을 넘기면 504 fallback 응답을 준다`() {
+        client
+            .get()
+            .uri("/user/very-slow")
+            .header("Authorization", "Bearer ${token()}")
+            .exchange()
+            .expectStatus()
+            .isEqualTo(HttpStatus.GATEWAY_TIMEOUT)
+            .expectBody()
+            .jsonPath("$.code")
+            .isEqualTo("GATEWAY_TIMEOUT")
+    }
+
     @Test
     fun `타임아웃보다 빠른 느린 응답은 그대로 전달한다`() {
         client
@@ -74,8 +90,10 @@ class FallbackTest {
     companion object {
         private val slowServer =
             HttpServer.create(InetSocketAddress("localhost", 0), 0).apply {
+                executor = Executors.newCachedThreadPool()
                 createContext("/") { exchange ->
-                    Thread.sleep(Duration.ofSeconds(2))
+                    val delay = if (exchange.requestURI.path.endsWith("very-slow")) 4L else 2L
+                    Thread.sleep(Duration.ofSeconds(delay))
                     val body = "slow-ok".toByteArray()
                     exchange.sendResponseHeaders(200, body.size.toLong())
                     exchange.responseBody.use { it.write(body) }