diff --git a/pkg/planner/core/casetest/index/index_test.go b/pkg/planner/core/casetest/index/index_test.go
index e1445b64a8ffc..8e50923a16824 100644
--- a/pkg/planner/core/casetest/index/index_test.go
+++ b/pkg/planner/core/casetest/index/index_test.go
@@ -78,3 +78,20 @@ func TestNullConditionForPrefixIndex(t *testing.T) {
 		"  └─StreamAgg_9 1.00 cop[tikv]  funcs:count(1)->Column#7",
 		"    └─IndexRangeScan_16 99.90 cop[tikv] table:t1, index:idx2(c1, c2) range:[\"0xfff\" -inf,\"0xfff\" +inf], keep order:false, stats:pseudo"))
 }
+
+func TestInvisibleIndex(t *testing.T) {
+	store := testkit.CreateMockStore(t)
+	tk := testkit.NewTestKit(t, store)
+	tk.MustExec("use test")
+	tk.MustExec("CREATE TABLE t1 ( a INT, KEY( a ) INVISIBLE );")
+	tk.MustExec("INSERT INTO t1 VALUES (1), (2), (3), (4), (5), (6), (7), (8), (9), (10);")
+	tk.MustQuery(`EXPLAIN SELECT a FROM t1;`).Check(
+		testkit.Rows(
+			`TableReader_5 10000.00 root  data:TableFullScan_4`,
+			`└─TableFullScan_4 10000.00 cop[tikv] table:t1 keep order:false, stats:pseudo`))
+	tk.MustExec("set session tidb_opt_use_invisible_indexes=on;")
+	tk.MustQuery(`EXPLAIN SELECT a FROM t1;`).Check(
+		testkit.Rows(
+			`IndexReader_7 10000.00 root  index:IndexFullScan_6`,
+			`└─IndexFullScan_6 10000.00 cop[tikv] table:t1, index:a(a) keep order:false, stats:pseudo`))
+}
diff --git a/pkg/planner/core/point_get_plan.go b/pkg/planner/core/point_get_plan.go
index 00062b8165f3d..5a3aeb5bb8f9a 100644
--- a/pkg/planner/core/point_get_plan.go
+++ b/pkg/planner/core/point_get_plan.go
@@ -740,7 +740,7 @@ func newBatchPointGetPlan(
 		}
 	}
 	for _, idxInfo := range tbl.Indices {
-		if !idxInfo.Unique || idxInfo.State != model.StatePublic || idxInfo.Invisible || idxInfo.MVIndex ||
+		if !idxInfo.Unique || idxInfo.State != model.StatePublic || (idxInfo.Invisible && !ctx.GetSessionVars().OptimizerUseInvisibleIndexes) || idxInfo.MVIndex ||
 			!indexIsAvailableByHints(idxInfo, indexHints) {
 			continue
 		}
@@ -1135,7 +1135,7 @@ func checkTblIndexForPointPlan(ctx sessionctx.Context, tblName *ast.TableName, s
 		dbName = ctx.GetSessionVars().CurrentDB
 	}
 	for _, idxInfo := range tbl.Indices {
-		if !idxInfo.Unique || idxInfo.State != model.StatePublic || idxInfo.Invisible || idxInfo.MVIndex ||
+		if !idxInfo.Unique || idxInfo.State != model.StatePublic || (idxInfo.Invisible && !ctx.GetSessionVars().OptimizerUseInvisibleIndexes) || idxInfo.MVIndex ||
 			!indexIsAvailableByHints(idxInfo, tblName.IndexHints) {
 			continue
 		}
diff --git a/pkg/session/session.go b/pkg/session/session.go
index 65b473e21a4a5..c0f2a62933e1c 100644
--- a/pkg/session/session.go
+++ b/pkg/session/session.go
@@ -1957,9 +1957,7 @@ func (s *session) getInternalSession(execOption sqlexec.ExecOption) (*session, f
 	if cache := s.sessionVars.InspectionTableCache; cache != nil {
 		se.sessionVars.InspectionTableCache = cache
 	}
-	if ok := s.sessionVars.OptimizerUseInvisibleIndexes; ok {
-		se.sessionVars.OptimizerUseInvisibleIndexes = true
-	}
+	se.sessionVars.OptimizerUseInvisibleIndexes = s.sessionVars.OptimizerUseInvisibleIndexes
 
 	if execOption.SnapshotTS != 0 {
 		if err := se.sessionVars.SetSystemVar(variable.TiDBSnapshot, strconv.FormatUint(execOption.SnapshotTS, 10)); err != nil {
diff --git a/pkg/sessionctx/variable/sysvar.go b/pkg/sessionctx/variable/sysvar.go
index fd9b055f66c28..3cf5a661af81d 100644
--- a/pkg/sessionctx/variable/sysvar.go
+++ b/pkg/sessionctx/variable/sysvar.go
@@ -2396,6 +2396,10 @@ var defaultSysVars = []*SysVar{
 		s.EnableAdvancedJoinHint = TiDBOptOn(val)
 		return nil
 	}},
+	{Scope: ScopeSession, Name: TiDBOptUseInvisibleIndexes, Value: BoolToOnOff(false), Type: TypeBool, SetSession: func(s *SessionVars, val string) error {
+		s.OptimizerUseInvisibleIndexes = TiDBOptOn(val)
+		return nil
+	}},
 	{Scope: ScopeGlobal | ScopeSession, Name: TiDBAnalyzePartitionConcurrency, Value: strconv.FormatInt(DefTiDBAnalyzePartitionConcurrency, 10),
 		MinValue: 1, MaxValue: uint64(config.GetGlobalConfig().Performance.AnalyzePartitionConcurrencyQuota), SetSession: func(s *SessionVars, val string) error {
 			s.AnalyzePartitionConcurrency = int(TidbOptInt64(val, DefTiDBAnalyzePartitionConcurrency))
diff --git a/pkg/sessionctx/variable/tidb_vars.go b/pkg/sessionctx/variable/tidb_vars.go
index 670c1c16ca0ed..64e2db2faea2b 100644
--- a/pkg/sessionctx/variable/tidb_vars.go
+++ b/pkg/sessionctx/variable/tidb_vars.go
@@ -851,7 +851,8 @@ const (
 
 	// TiDBOptAdvancedJoinHint indicates whether the join method hint is compatible with join order hint.
 	TiDBOptAdvancedJoinHint = "tidb_opt_advanced_join_hint"
-
+	// TiDBOptUseInvisibleIndexes indicates whether to use invisible indexes.
+	TiDBOptUseInvisibleIndexes = "tidb_opt_use_invisible_indexes"
 	// TiDBAnalyzePartitionConcurrency indicates concurrency for save/read partitions stats in Analyze
 	TiDBAnalyzePartitionConcurrency = "tidb_analyze_partition_concurrency"
 	// TiDBMergePartitionStatsConcurrency indicates the concurrency when merge partition stats into global stats
diff --git a/pkg/util/admin/admin.go b/pkg/util/admin/admin.go
index 8ca6b30d380ad..c674da59f182b 100644
--- a/pkg/util/admin/admin.go
+++ b/pkg/util/admin/admin.go
@@ -70,9 +70,10 @@ const (
 // otherwise it returns an error and the corresponding index's offset.
 func CheckIndicesCount(ctx sessionctx.Context, dbName, tableName string, indices []string) (byte, int, error) {
 	// Here we need check all indexes, includes invisible index
+	originOptUseInvisibleIdx := ctx.GetSessionVars().OptimizerUseInvisibleIndexes
 	ctx.GetSessionVars().OptimizerUseInvisibleIndexes = true
 	defer func() {
-		ctx.GetSessionVars().OptimizerUseInvisibleIndexes = false
+		ctx.GetSessionVars().OptimizerUseInvisibleIndexes = originOptUseInvisibleIdx
 	}()
 
 	var snapshot uint64