diff --git a/server/etcdserver/api/etcdhttp/health.go b/server/etcdserver/api/etcdhttp/health.go
index 234580805b4..44b0aa5d79f 100644
--- a/server/etcdserver/api/etcdhttp/health.go
+++ b/server/etcdserver/api/etcdhttp/health.go
@@ -22,9 +22,12 @@ import (
 	"net/http"
 	"path"
 	"strings"
+	"sync"
+	"time"
 
 	"github.com/prometheus/client_golang/prometheus"
 	"go.uber.org/zap"
+	"golang.org/x/time/rate"
 
 	pb "go.etcd.io/etcd/api/v3/etcdserverpb"
 	"go.etcd.io/etcd/client/pkg/v3/types"
@@ -36,6 +39,8 @@ import (
 const (
 	PathHealth      = "/health"
 	PathProxyHealth = "/proxy/health"
+
+	LivezRaftLoopDeadLockCheckInterval = 5 * time.Second
 )
 
 type ServerHealth interface {
@@ -44,6 +49,7 @@ type ServerHealth interface {
 	Range(context.Context, *pb.RangeRequest) (*pb.RangeResponse, error)
 	Config() config.ServerConfig
 	AuthStore() auth.AuthStore
+	TickElapsed() uint64
 }
 
 // HandleHealth registers metrics and health handlers. it checks health by using v3 range request
@@ -203,11 +209,19 @@ type HealthCheck func(ctx context.Context) error
 type CheckRegistry struct {
 	path   string
 	checks map[string]HealthCheck
+
+	// tickElapsed and rate limiter is only used in livez check registry.
+	mu                  sync.Mutex
+	lastRaftTickElapsed uint64
+
+	rateLimiter *rate.Limiter
 }
 
 func installLivezEndpoints(lg *zap.Logger, mux *http.ServeMux, server ServerHealth) {
-	reg := CheckRegistry{path: "/livez", checks: make(map[string]HealthCheck)}
+	rl := rate.NewLimiter(rate.Every(LivezRaftLoopDeadLockCheckInterval), 1)
+	reg := CheckRegistry{path: "/livez", checks: make(map[string]HealthCheck), rateLimiter: rl}
 	reg.Register("serializable_read", serializableReadCheck(server))
+	reg.Register("raft_loop_progress", raftLoopDeadLockCheck(server, &reg))
 	reg.InstallHttpEndpoints(lg, mux)
 }
 
@@ -365,3 +379,18 @@ func serializableReadCheck(srv ServerHealth) func(ctx context.Context) error {
 		return nil
 	}
 }
+
+func raftLoopDeadLockCheck(srv ServerHealth, reg *CheckRegistry) func(ctx context.Context) error {
+	return func(ctx context.Context) error {
+		if reg.rateLimiter.Allow() {
+			tickElapsed := srv.TickElapsed()
+			reg.mu.Lock()
+			defer reg.mu.Unlock()
+			if tickElapsed <= reg.lastRaftTickElapsed {
+				return fmt.Errorf("raft loop dead lock")
+			}
+			reg.lastRaftTickElapsed = tickElapsed
+		}
+		return nil
+	}
+}
diff --git a/server/etcdserver/api/etcdhttp/health_test.go b/server/etcdserver/api/etcdhttp/health_test.go
index 122fbf6adcf..9882634270e 100644
--- a/server/etcdserver/api/etcdhttp/health_test.go
+++ b/server/etcdserver/api/etcdhttp/health_test.go
@@ -60,6 +60,8 @@ func (s *fakeHealthServer) Leader() types.ID {
 
 func (s *fakeHealthServer) AuthStore() auth.AuthStore { return s.authStore }
 
+func (s *fakeHealthServer) TickElapsed() uint64 { return 1 }
+
 func (s *fakeHealthServer) ClientCertAuthEnabled() bool { return false }
 
 type healthTestCase struct {
diff --git a/server/etcdserver/raft.go b/server/etcdserver/raft.go
index 2a315ea5865..cd447b59f5d 100644
--- a/server/etcdserver/raft.go
+++ b/server/etcdserver/raft.go
@@ -23,12 +23,13 @@ import (
 
 	"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 +83,7 @@ type raftNode struct {
 
 	tickMu *sync.Mutex
 	raftNodeConfig
+	tickElapsed uint64
 
 	// a chan to send/receive snapshot
 	msgSnapC chan raftpb.Message
@@ -155,9 +157,16 @@ func newRaftNode(cfg raftNodeConfig) *raftNode {
 func (r *raftNode) tick() {
 	r.tickMu.Lock()
 	r.Tick()
+	r.tickElapsed++
 	r.tickMu.Unlock()
 }
 
+func (r *raftNode) safeReadTickElapsed() uint64 {
+	r.tickMu.Lock()
+	defer r.tickMu.Unlock()
+	return r.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 1d48fa6732c..b64ede213a6 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() }
 
+// TickElapsed returns the raft tick elapsed counter.
+// It is used to check if etcdserver raft loop is deadlocked.
+func (s *EtcdServer) TickElapsed() uint64 { return s.r.safeReadTickElapsed() }
+
 type confChangeResponse struct {
 	membs        []*membership.Member
 	raftAdvanceC <-chan struct{}