diff --git a/raft/progress.go b/raft/progress.go
index b0bd817a9c95..564d31304c74 100644
--- a/raft/progress.go
+++ b/raft/progress.go
@@ -17,6 +17,8 @@ package raft
 import (
 	"fmt"
 	"sort"
+
+	"go.etcd.io/etcd/raft/quorum"
 )
 
 const (
@@ -291,23 +293,25 @@ func (in *inflights) reset() {
 // known about the nodes and learners in it. In particular, it tracks the match
 // index for each peer which in turn allows reasoning about the committed index.
 type progressTracker struct {
-	nodes    map[uint64]struct{}
+	voters   quorum.JointConfig
 	learners map[uint64]struct{}
 	prs      map[uint64]*Progress
 
 	votes map[uint64]bool
 
 	maxInflight int
-	matchBuf    uint64Slice
 }
 
 func makeProgressTracker(maxInflight int) progressTracker {
 	p := progressTracker{
 		maxInflight: maxInflight,
-		prs:         map[uint64]*Progress{},
-		nodes:       map[uint64]struct{}{},
-		learners:    map[uint64]struct{}{},
-		votes:       map[uint64]bool{},
+		voters: quorum.JointConfig{
+			quorum.MajorityConfig{},
+			quorum.MajorityConfig{},
+		},
+		learners: map[uint64]struct{}{},
+		votes:    map[uint64]bool{},
+		prs:      map[uint64]*Progress{},
 	}
 	return p
 }
@@ -315,40 +319,35 @@ func makeProgressTracker(maxInflight int) progressTracker {
 // isSingleton returns true if (and only if) there is only one voting member
 // (i.e. the leader) in the current configuration.
 func (p *progressTracker) isSingleton() bool {
-	return len(p.nodes) == 1
+	return len(p.voters[0]) == 1 && len(p.voters[1]) == 0
 }
 
-func (p *progressTracker) quorum() int {
-	return len(p.nodes)/2 + 1
-}
+type progressAckIndexer map[uint64]*Progress
 
-func (p *progressTracker) hasQuorum(m map[uint64]struct{}) bool {
-	return len(m) >= p.quorum()
+var _ quorum.AckedIndexer = progressAckIndexer(nil)
+
+func (l progressAckIndexer) AckedIndex(id uint64) (uint64, bool) {
+	pr, ok := l[id]
+	if !ok {
+		return 0, false
+	}
+	return pr.Match, true
 }
 
 // committed returns the largest log index known to be committed based on what
 // the voting members of the group have acknowledged.
 func (p *progressTracker) committed() uint64 {
-	// Preserving matchBuf across calls is an optimization
-	// used to avoid allocating a new slice on each call.
-	if cap(p.matchBuf) < len(p.nodes) {
-		p.matchBuf = make(uint64Slice, len(p.nodes))
-	}
-	p.matchBuf = p.matchBuf[:len(p.nodes)]
-	idx := 0
-	for id := range p.nodes {
-		p.matchBuf[idx] = p.prs[id].Match
-		idx++
-	}
-	sort.Sort(&p.matchBuf)
-	return p.matchBuf[len(p.matchBuf)-p.quorum()]
+	return p.voters.CommittedIndex(progressAckIndexer(p.prs)).Definitely
 }
 
 func (p *progressTracker) removeAny(id uint64) {
 	_, okPR := p.prs[id]
-	_, okV := p.nodes[id]
+	_, okV1 := p.voters[0][id]
+	_, okV2 := p.voters[1][id]
 	_, okL := p.learners[id]
 
+	okV := okV1 || okV2
+
 	if !okPR {
 		panic("attempting to remove unknown peer %x")
 	} else if !okV && !okL {
@@ -357,7 +356,8 @@ func (p *progressTracker) removeAny(id uint64) {
 		panic(fmt.Sprintf("peer %x is both voter and learner", id))
 	}
 
-	delete(p.nodes, id)
+	delete(p.voters[0], id)
+	delete(p.voters[1], id)
 	delete(p.learners, id)
 	delete(p.prs, id)
 }
@@ -369,7 +369,7 @@ func (p *progressTracker) initProgress(id, match, next uint64, isLearner bool) {
 		panic(fmt.Sprintf("peer %x already tracked as node %v", id, pr))
 	}
 	if !isLearner {
-		p.nodes[id] = struct{}{}
+		p.voters[0][id] = struct{}{}
 	} else {
 		p.learners[id] = struct{}{}
 	}
@@ -391,19 +391,21 @@ func (p *progressTracker) visit(f func(id uint64, pr *Progress)) {
 // the view of the local raft state machine. Otherwise, it returns
 // false.
 func (p *progressTracker) quorumActive() bool {
-	var act int
+	votes := map[uint64]bool{}
 	p.visit(func(id uint64, pr *Progress) {
-		if pr.RecentActive && !pr.IsLearner {
-			act++
+		if pr.IsLearner {
+			return
 		}
+		votes[id] = pr.RecentActive
 	})
 
-	return act >= p.quorum()
+	return p.voters.VoteResult(votes) == quorum.VoteWon
 }
 
 func (p *progressTracker) voterNodes() []uint64 {
-	nodes := make([]uint64, 0, len(p.nodes))
-	for id := range p.nodes {
+	m := p.voters.IDs()
+	nodes := make([]uint64, 0, len(m))
+	for id := range m {
 		nodes = append(nodes, id)
 	}
 	sort.Sort(uint64Slice(nodes))
@@ -435,22 +437,21 @@ func (p *progressTracker) recordVote(id uint64, v bool) {
 
 // tallyVotes returns the number of granted and rejected votes, and whether the
 // election outcome is known.
-func (p *progressTracker) tallyVotes() (granted int, rejected int, result electionResult) {
-	for _, v := range p.votes {
-		if v {
+func (p *progressTracker) tallyVotes() (granted int, rejected int, _ quorum.VoteResult) {
+	// Make sure to populate granted/rejected correctly even if the votes slice
+	// contains members no longer part of the configuration. This doesn't really
+	// matter in the way the numbers are used (they're informational), but might
+	// as well get it right.
+	for id, pr := range p.prs {
+		if pr.IsLearner {
+			continue
+		}
+		if p.votes[id] {
 			granted++
 		} else {
 			rejected++
 		}
 	}
-
-	q := p.quorum()
-
-	result = electionIndeterminate
-	if granted >= q {
-		result = electionWon
-	} else if rejected >= q {
-		result = electionLost
-	}
+	result := p.voters.VoteResult(p.votes)
 	return granted, rejected, result
 }
diff --git a/raft/raft.go b/raft/raft.go
index 3372134ae992..cb003b80d1b4 100644
--- a/raft/raft.go
+++ b/raft/raft.go
@@ -24,6 +24,7 @@ import (
 	"sync"
 	"time"
 
+	"go.etcd.io/etcd/raft/quorum"
 	pb "go.etcd.io/etcd/raft/raftpb"
 )
 
@@ -737,7 +738,7 @@ func (r *raft) campaign(t CampaignType) {
 		voteMsg = pb.MsgVote
 		term = r.Term
 	}
-	if _, _, res := r.poll(r.id, voteRespMsgType(voteMsg), true); res == electionWon {
+	if _, _, res := r.poll(r.id, voteRespMsgType(voteMsg), true); res == quorum.VoteWon {
 		// We won the election after voting for ourselves (which must mean that
 		// this is a single-node cluster). Advance to the next state.
 		if t == campaignPreElection {
@@ -747,7 +748,7 @@ func (r *raft) campaign(t CampaignType) {
 		}
 		return
 	}
-	for id := range r.prs.nodes {
+	for id := range r.prs.voters.IDs() {
 		if id == r.id {
 			continue
 		}
@@ -762,15 +763,7 @@ func (r *raft) campaign(t CampaignType) {
 	}
 }
 
-type electionResult byte
-
-const (
-	electionIndeterminate electionResult = iota
-	electionLost
-	electionWon
-)
-
-func (r *raft) poll(id uint64, t pb.MessageType, v bool) (granted int, rejected int, result electionResult) {
+func (r *raft) poll(id uint64, t pb.MessageType, v bool) (granted int, rejected int, result quorum.VoteResult) {
 	if v {
 		r.logger.Infof("%x received %s from %x at term %d", r.id, t, id, r.Term)
 	} else {
@@ -988,7 +981,9 @@ func stepLeader(r *raft, m pb.Message) error {
 		r.bcastAppend()
 		return nil
 	case pb.MsgReadIndex:
-		if !r.prs.isSingleton() { // more than one voting member in cluster
+		// If more than the local vote is needed, go through a full broadcast,
+		// otherwise optimize.
+		if !r.prs.isSingleton() {
 			if r.raftLog.zeroTermOnErrCompacted(r.raftLog.term(r.raftLog.committed)) != r.Term {
 				// Reject read only request when this leader has not committed any log entry at its term.
 				return nil
@@ -1099,7 +1094,7 @@ func stepLeader(r *raft, m pb.Message) error {
 			return nil
 		}
 
-		if !r.prs.hasQuorum(r.readOnly.recvAck(m.From, m.Context)) {
+		if r.prs.voters.VoteResult(r.readOnly.recvAck(m.From, m.Context)) != quorum.VoteWon {
 			return nil
 		}
 
@@ -1199,14 +1194,14 @@ func stepCandidate(r *raft, m pb.Message) error {
 		gr, rj, res := r.poll(m.From, m.Type, !m.Reject)
 		r.logger.Infof("%x has received %d %s votes and %d vote rejections", r.id, gr, m.Type, rj)
 		switch res {
-		case electionWon:
+		case quorum.VoteWon:
 			if r.state == StatePreCandidate {
 				r.campaign(campaignElection)
 			} else {
 				r.becomeLeader()
 				r.bcastAppend()
 			}
-		case electionLost:
+		case quorum.VoteLost:
 			// pb.MsgPreVoteResp contains future term of pre-candidate
 			// m.Term > r.Term; reuse r.Term
 			r.becomeFollower(r.Term, None)
@@ -1406,7 +1401,7 @@ func (r *raft) removeNode(id uint64) {
 	r.prs.removeAny(id)
 
 	// Do not try to commit or abort transferring if the cluster is now empty.
-	if len(r.prs.nodes) == 0 && len(r.prs.learners) == 0 {
+	if len(r.prs.voters[0]) == 0 && len(r.prs.learners) == 0 {
 		return
 	}
 
diff --git a/raft/raft_test.go b/raft/raft_test.go
index ab1037bea54b..ad34e07aafb0 100644
--- a/raft/raft_test.go
+++ b/raft/raft_test.go
@@ -4300,7 +4300,8 @@ func newNetworkWithConfig(configFunc func(*Config), peers ...stateMachine) *netw
 				learners[i] = true
 			}
 			v.id = id
-			v.prs.nodes = make(map[uint64]struct{})
+			v.prs.voters[0] = make(map[uint64]struct{})
+			v.prs.voters[1] = make(map[uint64]struct{})
 			v.prs.learners = make(map[uint64]struct{})
 			v.prs.prs = make(map[uint64]*Progress)
 			for i := 0; i < size; i++ {
@@ -4309,7 +4310,7 @@ func newNetworkWithConfig(configFunc func(*Config), peers ...stateMachine) *netw
 					pr.IsLearner = true
 					v.prs.learners[peerAddrs[i]] = struct{}{}
 				} else {
-					v.prs.nodes[peerAddrs[i]] = struct{}{}
+					v.prs.voters[0][peerAddrs[i]] = struct{}{}
 				}
 				v.prs.prs[peerAddrs[i]] = pr
 			}
diff --git a/raft/read_only.go b/raft/read_only.go
index 39eb2b065156..6987f1bd7d7e 100644
--- a/raft/read_only.go
+++ b/raft/read_only.go
@@ -29,7 +29,11 @@ type ReadState struct {
 type readIndexStatus struct {
 	req   pb.Message
 	index uint64
-	acks  map[uint64]struct{}
+	// NB: this never records 'false', but it's more convenient to use this
+	// instead of a map[uint64]struct{} due to the API of quorum.VoteResult. If
+	// this becomes performance sensitive enough (doubtful), quorum.VoteResult
+	// can change to an API that is closer to that of CommittedIndex.
+	acks map[uint64]bool
 }
 
 type readOnly struct {
@@ -54,20 +58,20 @@ func (ro *readOnly) addRequest(index uint64, m pb.Message) {
 	if _, ok := ro.pendingReadIndex[s]; ok {
 		return
 	}
-	ro.pendingReadIndex[s] = &readIndexStatus{index: index, req: m, acks: make(map[uint64]struct{})}
+	ro.pendingReadIndex[s] = &readIndexStatus{index: index, req: m, acks: make(map[uint64]bool)}
 	ro.readIndexQueue = append(ro.readIndexQueue, s)
 }
 
 // recvAck notifies the readonly struct that the raft state machine received
 // an acknowledgment of the heartbeat that attached with the read only request
 // context.
-func (ro *readOnly) recvAck(id uint64, context []byte) map[uint64]struct{} {
+func (ro *readOnly) recvAck(id uint64, context []byte) map[uint64]bool {
 	rs, ok := ro.pendingReadIndex[string(context)]
 	if !ok {
 		return nil
 	}
 
-	rs.acks[id] = struct{}{}
+	rs.acks[id] = true
 	return rs.acks
 }