diff --git a/Cargo.lock b/Cargo.lock
index e935169e3c..4a38a49bed 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -3794,6 +3794,7 @@ dependencies = [
  "sp-timestamp",
  "sp-transaction-pool",
  "sp-trie",
+ "sp-utils",
  "structopt",
  "substrate-browser-utils",
  "substrate-build-script-utils",
@@ -3892,6 +3893,7 @@ dependencies = [
  "sp-consensus-babe",
  "sp-runtime",
  "sp-transaction-pool",
+ "sp-utils",
  "substrate-frame-rpc-system",
 ]
 
@@ -6968,6 +6970,7 @@ dependencies = [
  "sc-finality-grandpa",
  "sc-network-test",
  "sc-rpc",
+ "sc-rpc-api",
  "serde",
  "serde_json",
  "sp-blockchain",
@@ -6976,6 +6979,7 @@ dependencies = [
  "sp-finality-grandpa",
  "sp-keyring",
  "sp-runtime",
+ "sp-utils",
  "substrate-test-runtime-client",
 ]
 
diff --git a/bin/node/cli/Cargo.toml b/bin/node/cli/Cargo.toml
index 39df211707..71dd4e592b 100644
--- a/bin/node/cli/Cargo.toml
+++ b/bin/node/cli/Cargo.toml
@@ -57,6 +57,8 @@ sp-keyring = { version = "2.0.0", path = "../../../primitives/keyring" }
 sp-io = { version = "2.0.0", path = "../../../primitives/io" }
 sp-consensus = { version = "0.8.0", path = "../../../primitives/consensus/common" }
 sp-transaction-pool = { version = "2.0.0", path = "../../../primitives/transaction-pool" }
+sp-utils = { version = "2.0.0", path = "../../../primitives/utils" }
+
 
 # client dependencies
 sc-client-api = { version = "2.0.0", path = "../../../client/api" }
diff --git a/bin/node/cli/src/service.rs b/bin/node/cli/src/service.rs
index b15ace6181..66796ba945 100644
--- a/bin/node/cli/src/service.rs
+++ b/bin/node/cli/src/service.rs
@@ -81,6 +81,7 @@ pub fn new_partial(config: &Configuration) -> Result<sc_service::PartialComponen
 		client.clone(), &(client.clone() as Arc<_>), select_chain.clone(),
 	)?;
 	let justification_import = grandpa_block_import.clone();
+	let send_voter_commands = grandpa_block_import.send_voter_commands();
 
 	let (block_import, babe_link) = sc_consensus_babe::block_import(
 		sc_consensus_babe::Config::get_or_compute(&*client)?,
@@ -136,6 +137,7 @@ pub fn new_partial(config: &Configuration) -> Result<sc_service::PartialComponen
 					keystore: keystore.clone(),
 				},
 				grandpa: node_rpc::GrandpaDeps {
+					voter_worker_send_handle: send_voter_commands.clone(),
 					shared_voter_state: shared_voter_state.clone(),
 					shared_authority_set: shared_authority_set.clone(),
 					justification_stream: justification_stream.clone(),
diff --git a/bin/node/rpc/Cargo.toml b/bin/node/rpc/Cargo.toml
index d80b686b5a..ee09588839 100644
--- a/bin/node/rpc/Cargo.toml
+++ b/bin/node/rpc/Cargo.toml
@@ -31,5 +31,6 @@ sp-blockchain = { version = "2.0.0", path = "../../../primitives/blockchain" }
 sp-consensus = { version = "0.8.0", path = "../../../primitives/consensus/common" }
 sp-consensus-babe = { version = "0.8.0", path = "../../../primitives/consensus/babe" }
 sp-runtime = { version = "2.0.0", path = "../../../primitives/runtime" }
+sp-utils = { version = "2.0.0", path = "../../../primitives/utils" }
 sp-transaction-pool = { version = "2.0.0", path = "../../../primitives/transaction-pool" }
 substrate-frame-rpc-system = { version = "2.0.0", path = "../../../utils/frame/rpc/system" }
diff --git a/bin/node/rpc/src/lib.rs b/bin/node/rpc/src/lib.rs
index 55a7adf612..f735dc663f 100644
--- a/bin/node/rpc/src/lib.rs
+++ b/bin/node/rpc/src/lib.rs
@@ -37,7 +37,8 @@ use sc_consensus_babe::{Config, Epoch};
 use sc_consensus_babe_rpc::BabeRpcHandler;
 use sc_consensus_epochs::SharedEpochChanges;
 use sc_finality_grandpa::{
-	SharedVoterState, SharedAuthoritySet, FinalityProofProvider, GrandpaJustificationStream
+	FinalityProofProvider, GrandpaJustificationStream, SharedVoterState, SharedAuthoritySet,
+	VoterCommand,
 };
 use sc_finality_grandpa_rpc::GrandpaRpcHandler;
 use sc_keystore::KeyStorePtr;
@@ -48,7 +49,10 @@ use sp_blockchain::{Error as BlockChainError, HeaderMetadata, HeaderBackend};
 use sp_consensus::SelectChain;
 use sp_consensus_babe::BabeApi;
 use sc_rpc::SubscriptionTaskExecutor;
+use sp_runtime::traits::{Block as BlockT, NumberFor};
 use sp_transaction_pool::TransactionPool;
+use sp_utils::mpsc::TracingUnboundedSender;
+
 
 /// Light client extra dependencies.
 pub struct LightDeps<C, F, P> {
@@ -74,6 +78,8 @@ pub struct BabeDeps {
 
 /// Extra dependencies for GRANDPA
 pub struct GrandpaDeps<B> {
+	/// send handle for grandpa voter worker
+	pub voter_worker_send_handle: TracingUnboundedSender<VoterCommand<<Block as BlockT>::Hash, NumberFor<Block>>>,
 	/// Voting round info.
 	pub shared_voter_state: SharedVoterState,
 	/// Authority set info.
@@ -142,6 +148,7 @@ pub fn create_full<C, P, SC, B>(
 		shared_epoch_changes,
 	} = babe;
 	let GrandpaDeps {
+		voter_worker_send_handle,
 		shared_voter_state,
 		shared_authority_set,
 		justification_stream,
@@ -177,10 +184,12 @@ pub fn create_full<C, P, SC, B>(
 		sc_finality_grandpa_rpc::GrandpaApi::to_delegate(
 			GrandpaRpcHandler::new(
 				shared_authority_set,
+				voter_worker_send_handle,
 				shared_voter_state,
 				justification_stream,
 				subscription_executor,
 				finality_provider,
+				deny_unsafe,
 			)
 		)
 	);
diff --git a/client/finality-grandpa/rpc/Cargo.toml b/client/finality-grandpa/rpc/Cargo.toml
index c0c2ea8b27..2b05c3e78c 100644
--- a/client/finality-grandpa/rpc/Cargo.toml
+++ b/client/finality-grandpa/rpc/Cargo.toml
@@ -14,6 +14,7 @@ sc-rpc = { version = "2.0.0", path = "../../rpc" }
 sp-blockchain = { version = "2.0.0", path = "../../../primitives/blockchain" }
 sp-core = { version = "2.0.0", path = "../../../primitives/core" }
 sp-runtime = { version = "2.0.0", path = "../../../primitives/runtime" }
+sp-utils = { version = "2.0.0", path = "../../../primitives/utils" }
 finality-grandpa = { version = "0.12.3", features = ["derive-codec"] }
 jsonrpc-core = "15.0.0"
 jsonrpc-core-client = "15.0.0"
@@ -26,6 +27,7 @@ log = "0.4.8"
 derive_more = "0.99.2"
 parity-scale-codec = { version = "1.3.0", features = ["derive"] }
 sc-client-api = { version = "2.0.0", path = "../../api" }
+sc-rpc-api = { version = "0.8.0", path = "../../rpc-api" }
 
 [dev-dependencies]
 sc-block-builder = { version = "0.8.0", path = "../../block-builder" }
diff --git a/client/finality-grandpa/rpc/src/lib.rs b/client/finality-grandpa/rpc/src/lib.rs
index 172473ad65..44168c4c6f 100644
--- a/client/finality-grandpa/rpc/src/lib.rs
+++ b/client/finality-grandpa/rpc/src/lib.rs
@@ -36,8 +36,10 @@ mod finality;
 mod notification;
 mod report;
 
-use sc_finality_grandpa::GrandpaJustificationStream;
-use sp_runtime::traits::Block as BlockT;
+use sc_finality_grandpa::{GrandpaJustificationStream, VoterCommand};
+use sc_rpc_api::DenyUnsafe;
+use sp_runtime::traits::{Block as BlockT, NumberFor};
+use sp_utils::mpsc::TracingUnboundedSender;
 
 use finality::{EncodedFinalityProofs, RpcFinalityProofProvider};
 use report::{ReportAuthoritySet, ReportVoterState, ReportedRoundStates};
@@ -57,6 +59,10 @@ pub trait GrandpaApi<Notification, Hash> {
 	#[rpc(name = "grandpa_roundState")]
 	fn round_state(&self) -> FutureResult<ReportedRoundStates>;
 
+	/// Restarts the grandpa voter future
+	#[rpc(name = "grandpa_restartVoter")]
+	fn restart_voter(&self) -> Result<(), jsonrpc_core::Error>;
+
 	/// Returns the block most recently finalized by Grandpa, alongside
 	/// side its justification.
 	#[pubsub(
@@ -95,11 +101,15 @@ pub trait GrandpaApi<Notification, Hash> {
 
 /// Implements the GrandpaApi RPC trait for interacting with GRANDPA.
 pub struct GrandpaRpcHandler<AuthoritySet, VoterState, Block: BlockT, ProofProvider> {
+	/// Handle to the local grandpa voter future
+	voter_worker_send_handle: TracingUnboundedSender<VoterCommand<Block::Hash, NumberFor<Block>>>,
 	authority_set: AuthoritySet,
 	voter_state: VoterState,
 	justification_stream: GrandpaJustificationStream<Block>,
 	manager: SubscriptionManager,
 	finality_proof_provider: Arc<ProofProvider>,
+	/// Whether to deny unsafe calls
+	deny_unsafe: DenyUnsafe,
 }
 
 impl<AuthoritySet, VoterState, Block: BlockT, ProofProvider>
@@ -108,10 +118,12 @@ impl<AuthoritySet, VoterState, Block: BlockT, ProofProvider>
 	/// Creates a new GrandpaRpcHandler instance.
 	pub fn new<E>(
 		authority_set: AuthoritySet,
+		voter_worker_send_handle: TracingUnboundedSender<VoterCommand<Block::Hash, NumberFor<Block>>>,
 		voter_state: VoterState,
 		justification_stream: GrandpaJustificationStream<Block>,
 		executor: E,
 		finality_proof_provider: Arc<ProofProvider>,
+		deny_unsafe: DenyUnsafe,
 	) -> Self
 	where
 		E: Executor01<Box<dyn Future01<Item = (), Error = ()> + Send>> + Send + Sync + 'static,
@@ -119,10 +131,12 @@ impl<AuthoritySet, VoterState, Block: BlockT, ProofProvider>
 		let manager = SubscriptionManager::new(Arc::new(executor));
 		Self {
 			authority_set,
+ 			voter_worker_send_handle,
 			voter_state,
 			justification_stream,
 			manager,
 			finality_proof_provider,
+			deny_unsafe,
 		}
 	}
 }
@@ -137,6 +151,12 @@ where
 {
 	type Metadata = sc_rpc::Metadata;
 
+	fn restart_voter(&self) -> Result<(), jsonrpc_core::Error> {
+		self.deny_unsafe.check_if_safe()?;
+		let _ = self.voter_worker_send_handle.unbounded_send(VoterCommand::Restart);
+		Ok(())
+	}
+
 	fn round_state(&self) -> FutureResult<ReportedRoundStates> {
 		let round_states = ReportedRoundStates::from(&self.authority_set, &self.voter_state);
 		let future = async move { round_states }.boxed();
@@ -211,6 +231,7 @@ mod tests {
 	use sp_core::crypto::Public;
 	use sp_keyring::Ed25519Keyring;
 	use sp_runtime::traits::{Block as BlockT, Header as HeaderT};
+	use sp_utils::mpsc::tracing_unbounded;
 	use substrate_test_runtime_client::{
 		runtime::{Block, Header, H256},
 		DefaultTestClientBuilderExt,
@@ -302,18 +323,19 @@ mod tests {
 		}
 	}
 
-	fn setup_io_handler<VoterState>(voter_state: VoterState) -> (
+	fn setup_io_handler<VoterState>(voter_state: VoterState, deny_unsafe: DenyUnsafe) -> (
 		jsonrpc_core::MetaIoHandler<sc_rpc::Metadata>,
 		GrandpaJustificationSender<Block>,
 	) where
 		VoterState: ReportVoterState + Send + Sync + 'static,
 	{
-		setup_io_handler_with_finality_proofs(voter_state, Default::default())
+		setup_io_handler_with_finality_proofs(voter_state, Default::default(), deny_unsafe)
 	}
 
 	fn setup_io_handler_with_finality_proofs<VoterState>(
 		voter_state: VoterState,
 		finality_proofs: Vec<FinalityProofFragment<Header>>,
+		deny_unsafe: DenyUnsafe,
 	) -> (
 		jsonrpc_core::MetaIoHandler<sc_rpc::Metadata>,
 		GrandpaJustificationSender<Block>,
@@ -322,13 +344,15 @@ mod tests {
 	{
 		let (justification_sender, justification_stream) = GrandpaJustificationStream::channel();
 		let finality_proof_provider = Arc::new(TestFinalityProofProvider { finality_proofs });
-
+		let (voter_worker_send_handle, _) = tracing_unbounded("test_grandpa_voter_command");
 		let handler = GrandpaRpcHandler::new(
 			TestAuthoritySet,
+			voter_worker_send_handle,
 			voter_state,
 			justification_stream,
 			sc_rpc::testing::TaskExecutor,
 			finality_proof_provider,
+			deny_unsafe,
 		);
 
 		let mut io = jsonrpc_core::MetaIoHandler::default();
@@ -339,7 +363,7 @@ mod tests {
 
 	#[test]
 	fn uninitialized_rpc_handler() {
-		let (io, _) = setup_io_handler(EmptyVoterState);
+		let (io, _) = setup_io_handler(EmptyVoterState, DenyUnsafe::No);
 
 		let request = r#"{"jsonrpc":"2.0","method":"grandpa_roundState","params":[],"id":1}"#;
 		let response = r#"{"jsonrpc":"2.0","error":{"code":1,"message":"GRANDPA RPC endpoint not ready"},"id":1}"#;
@@ -348,9 +372,31 @@ mod tests {
 		assert_eq!(Some(response.into()), io.handle_request_sync(request, meta));
 	}
 
+	#[test]
+	fn restart_grandpa_voter() {
+		let (io,  _) = setup_io_handler(TestVoterState, DenyUnsafe::No);
+
+		let request = r#"{"jsonrpc":"2.0","method":"grandpa_restartVoter","params":[],"id":1}"#;
+		let response = r#"{"jsonrpc":"2.0","result":null,"id":1}"#;
+
+		let meta = sc_rpc::Metadata::default();
+		assert_eq!(Some(response.into()), io.handle_request_sync(request, meta));
+	}
+
+	#[test]
+	fn restart_grandpa_voter_denied() {
+		let (io,  _) = setup_io_handler(TestVoterState, DenyUnsafe::Yes);
+
+		let request = r#"{"jsonrpc":"2.0","method":"grandpa_restartVoter","params":[],"id":1}"#;
+		let response = r#"{"jsonrpc":"2.0","error":{"code":-32601,"message":"Method not found"},"id":1}"#;
+
+		let meta = sc_rpc::Metadata::default();
+		assert_eq!(Some(response.into()), io.handle_request_sync(request, meta));
+	}
+
 	#[test]
 	fn working_rpc_handler() {
-		let (io,  _) = setup_io_handler(TestVoterState);
+		let (io,  _) = setup_io_handler(TestVoterState, DenyUnsafe::No);
 
 		let request = r#"{"jsonrpc":"2.0","method":"grandpa_roundState","params":[],"id":1}"#;
 		let response = "{\"jsonrpc\":\"2.0\",\"result\":{\
@@ -379,7 +425,7 @@ mod tests {
 
 	#[test]
 	fn subscribe_and_unsubscribe_to_justifications() {
-		let (io, _) = setup_io_handler(TestVoterState);
+		let (io, _) = setup_io_handler(TestVoterState, DenyUnsafe::No);
 		let (meta, _) = setup_session();
 
 		// Subscribe
@@ -411,7 +457,7 @@ mod tests {
 
 	#[test]
 	fn subscribe_and_unsubscribe_with_wrong_id() {
-		let (io, _) = setup_io_handler(TestVoterState);
+		let (io, _) = setup_io_handler(TestVoterState, DenyUnsafe::No);
 		let (meta, _) = setup_session();
 
 		// Subscribe
@@ -483,7 +529,7 @@ mod tests {
 
 	#[test]
 	fn subscribe_and_listen_to_one_justification() {
-		let (io, justification_sender) = setup_io_handler(TestVoterState);
+		let (io, justification_sender) = setup_io_handler(TestVoterState, DenyUnsafe::No);
 		let (meta, receiver) = setup_session();
 
 		// Subscribe
@@ -529,6 +575,7 @@ mod tests {
 		let (io,  _) = setup_io_handler_with_finality_proofs(
 			TestVoterState,
 			finality_proofs.clone(),
+			DenyUnsafe::No,
 		);
 
 		let request = "{\"jsonrpc\":\"2.0\",\"method\":\"grandpa_proveFinality\",\"params\":[\
diff --git a/client/finality-grandpa/src/import.rs b/client/finality-grandpa/src/import.rs
index 04df95a318..ed131dc55e 100644
--- a/client/finality-grandpa/src/import.rs
+++ b/client/finality-grandpa/src/import.rs
@@ -67,6 +67,13 @@ pub struct GrandpaBlockImport<Backend, Block: BlockT, Client, SC> {
 	_phantom: PhantomData<Backend>,
 }
 
+impl<Backend, Block: BlockT, Client, SC> GrandpaBlockImport<Backend, Block, Client, SC> {
+	/// Get the grandpa voter future command handle
+	pub fn send_voter_commands(&self) -> TracingUnboundedSender<VoterCommand<Block::Hash, NumberFor<Block>>> {
+		self.send_voter_commands.clone()
+	}
+}
+
 impl<Backend, Block: BlockT, Client, SC: Clone> Clone for
 	GrandpaBlockImport<Backend, Block, Client, SC>
 {
diff --git a/client/finality-grandpa/src/lib.rs b/client/finality-grandpa/src/lib.rs
index a15130942c..3321c4eaa5 100644
--- a/client/finality-grandpa/src/lib.rs
+++ b/client/finality-grandpa/src/lib.rs
@@ -375,20 +375,26 @@ impl<Block, Network> BlockSyncRequester<Block> for NetworkBridge<Block, Network>
 
 /// A new authority set along with the canonical block it changed at.
 #[derive(Debug)]
-pub(crate) struct NewAuthoritySet<H, N> {
-	pub(crate) canon_number: N,
-	pub(crate) canon_hash: H,
-	pub(crate) set_id: SetId,
-	pub(crate) authorities: AuthorityList,
+pub struct NewAuthoritySet<H, N> {
+	/// Canonical block number
+	pub canon_number: N,
+	/// Canonical block hash
+	pub canon_hash: H,
+	/// Authority set id
+	pub set_id: SetId,
+	/// The authority IDs
+	pub authorities: AuthorityList,
 }
 
 /// Commands issued to the voter.
 #[derive(Debug)]
-pub(crate) enum VoterCommand<H, N> {
+pub enum VoterCommand<H, N> {
 	/// Pause the voter for given reason.
 	Pause(String),
 	/// New authorities.
-	ChangeAuthorities(NewAuthoritySet<H, N>)
+	ChangeAuthorities(NewAuthoritySet<H, N>),
+	/// Restart the local grandpa voter.
+	Restart,
 }
 
 impl<H, N> fmt::Display for VoterCommand<H, N> {
@@ -396,6 +402,7 @@ impl<H, N> fmt::Display for VoterCommand<H, N> {
 		match *self {
 			VoterCommand::Pause(ref reason) => write!(f, "Pausing voter: {}", reason),
 			VoterCommand::ChangeAuthorities(_) => write!(f, "Changing authorities"),
+			VoterCommand::Restart => write!(f, "Restart the local grandpa voter"),
 		}
 	}
 }
@@ -1034,6 +1041,11 @@ where
 				self.rebuild_voter();
 				Ok(())
 			}
+			VoterCommand::Restart => {
+				info!(target: "afg", "👴 restarting grandpa voter...");
+				self.rebuild_voter();
+				Ok(())
+			}
 		}
 	}
 }
diff --git a/client/finality-grandpa/src/observer.rs b/client/finality-grandpa/src/observer.rs
index 6a9955aa86..70fee2e6df 100644
--- a/client/finality-grandpa/src/observer.rs
+++ b/client/finality-grandpa/src/observer.rs
@@ -334,6 +334,7 @@ where
 
 				set_state
 			},
+			VoterCommand::Restart => return Ok(()),
 		}.into();
 
 		self.rebuild_observer();