diff --git a/server/etcdserver/raft.go b/server/etcdserver/raft.go
index 2a315ea58656..d6fb4e47013d 100644
--- a/server/etcdserver/raft.go
+++ b/server/etcdserver/raft.go
@@ -18,17 +18,19 @@ import (
 	"expvar"
 	"fmt"
 	"log"
+	"math"
 	"sync"
 	"time"
 
 	"go.uber.org/zap"
 
+	"go.etcd.io/raft/v3"
+	"go.etcd.io/raft/v3/raftpb"
+
 	"go.etcd.io/etcd/client/pkg/v3/logutil"
 	"go.etcd.io/etcd/pkg/v3/contention"
 	"go.etcd.io/etcd/server/v3/etcdserver/api/rafthttp"
 	serverstorage "go.etcd.io/etcd/server/v3/storage"
-	"go.etcd.io/raft/v3"
-	"go.etcd.io/raft/v3/raftpb"
 )
 
 const (
@@ -82,6 +84,7 @@ type raftNode struct {
 
 	tickMu *sync.Mutex
 	raftNodeConfig
+	tickElapsed uint64 // counter reset after each probe
 
 	// a chan to send/receive snapshot
 	msgSnapC chan raftpb.Message
@@ -155,9 +158,21 @@ func newRaftNode(cfg raftNodeConfig) *raftNode {
 func (r *raftNode) tick() {
 	r.tickMu.Lock()
 	r.Tick()
+	r.tickElapsed++
+	if r.tickElapsed == math.MaxUint64 {
+		r.tickElapsed = 1
+	}
 	r.tickMu.Unlock()
 }
 
+func (r *raftNode) safeReadTickElapsedAndClear() uint64 {
+	r.tickMu.Lock()
+	defer r.tickMu.Unlock()
+	tickElapsed := r.tickElapsed
+	r.tickElapsed = 0
+	return tickElapsed
+}
+
 // start prepares and starts raftNode in a new goroutine. It is no longer safe
 // to modify the fields after it has been started.
 func (r *raftNode) start(rh *raftReadyHandler) {
diff --git a/server/etcdserver/server.go b/server/etcdserver/server.go
index 1d48fa6732cb..eed6478e080e 100644
--- a/server/etcdserver/server.go
+++ b/server/etcdserver/server.go
@@ -33,6 +33,9 @@ import (
 	"github.com/prometheus/client_golang/prometheus"
 	"go.uber.org/zap"
 
+	"go.etcd.io/raft/v3"
+	"go.etcd.io/raft/v3/raftpb"
+
 	pb "go.etcd.io/etcd/api/v3/etcdserverpb"
 	"go.etcd.io/etcd/api/v3/membershippb"
 	"go.etcd.io/etcd/api/v3/version"
@@ -67,8 +70,6 @@ import (
 	"go.etcd.io/etcd/server/v3/storage/backend"
 	"go.etcd.io/etcd/server/v3/storage/mvcc"
 	"go.etcd.io/etcd/server/v3/storage/schema"
-	"go.etcd.io/raft/v3"
-	"go.etcd.io/raft/v3/raftpb"
 )
 
 const (
@@ -1643,6 +1644,10 @@ func (s *EtcdServer) AppliedIndex() uint64 { return s.getAppliedIndex() }
 
 func (s *EtcdServer) Term() uint64 { return s.getTerm() }
 
+// ProbeRaftLoopProgress probes if the etcdserver raft loop is deadlocked
+// since last time the function is invoked.
+func (s *EtcdServer) ProbeRaftLoopProgress() bool { return s.r.safeReadTickElapsedAndClear() != 0 }
+
 type confChangeResponse struct {
 	membs        []*membership.Member
 	raftAdvanceC <-chan struct{}