diff --git a/client/client_test.go b/client/client_test.go
index e82fe861a0e8..075e0c876723 100644
--- a/client/client_test.go
+++ b/client/client_test.go
@@ -92,11 +92,10 @@ func TestGRPCDialOption(t *testing.T) {
 	ctx, cancel := context.WithTimeout(context.TODO(), 500*time.Millisecond)
 	defer cancel()
 	cli := &pdServiceDiscovery{
-		checkMembershipCh: make(chan struct{}, 1),
-		ctx:               ctx,
-		cancel:            cancel,
-		tlsCfg:            &tlsutil.TLSConfig{},
-		option:            newOption(),
+		ctx:    ctx,
+		cancel: cancel,
+		tlsCfg: &tlsutil.TLSConfig{},
+		option: newOption(),
 	}
 	cli.urls.Store([]string{testClientURL})
 	cli.option.gRPCDialOptions = []grpc.DialOption{grpc.WithBlock()}
diff --git a/client/pd_service_discovery.go b/client/pd_service_discovery.go
index 4499c9e17c0d..0b85e59e31f4 100644
--- a/client/pd_service_discovery.go
+++ b/client/pd_service_discovery.go
@@ -32,6 +32,7 @@ import (
 	"github.com/tikv/pd/client/tlsutil"
 	"go.uber.org/zap"
 	"google.golang.org/grpc"
+	"google.golang.org/grpc/connectivity"
 )
 
 const (
@@ -39,6 +40,7 @@ const (
 	memberUpdateInterval      = time.Minute
 	serviceModeUpdateInterval = 3 * time.Second
 	updateMemberTimeout       = time.Second // Use a shorter timeout to recover faster from network isolation.
+	requestTimeout            = 2 * time.Second
 )
 
 type serviceType int
@@ -61,7 +63,7 @@ type ServiceDiscovery interface {
 	GetKeyspaceID() uint32
 	// GetKeyspaceGroupID returns the ID of the keyspace group
 	GetKeyspaceGroupID() uint32
-	// DiscoverServiceURLs discovers the microservice with the specified type and returns the server urls.
+	// DiscoverMicroservice discovers the microservice with the specified type and returns the server urls.
 	DiscoverMicroservice(svcType serviceType) ([]string, error)
 	// GetServiceURLs returns the URLs of the servers providing the service
 	GetServiceURLs() []string
@@ -141,8 +143,6 @@ type pdServiceDiscovery struct {
 	// leader is updated.
 	tsoGlobalAllocLeaderUpdatedCb tsoGlobalServAddrUpdatedFunc
 
-	checkMembershipCh chan struct{}
-
 	wg        *sync.WaitGroup
 	ctx       context.Context
 	cancel    context.CancelFunc
@@ -153,6 +153,8 @@ type pdServiceDiscovery struct {
 	tlsCfg             *tlsutil.TLSConfig
 	// Client option.
 	option *option
+
+	successReConnect chan struct{}
 }
 
 // newPDServiceDiscovery returns a new PD service discovery-based client.
@@ -165,7 +167,6 @@ func newPDServiceDiscovery(
 	urls []string, tlsCfg *tlsutil.TLSConfig, option *option,
 ) *pdServiceDiscovery {
 	pdsd := &pdServiceDiscovery{
-		checkMembershipCh:   make(chan struct{}, 1),
 		ctx:                 ctx,
 		cancel:              cancel,
 		wg:                  wg,
@@ -207,7 +208,7 @@ func (c *pdServiceDiscovery) Init() error {
 	}
 
 	c.wg.Add(2)
-	go c.updateMemberLoop()
+	go c.reconnectMemberLoop()
 	go c.updateServiceModeLoop()
 
 	c.isInitialized = true
@@ -231,30 +232,107 @@ func (c *pdServiceDiscovery) initRetry(f func() error) error {
 	return errors.WithStack(err)
 }
 
-func (c *pdServiceDiscovery) updateMemberLoop() {
+func (c *pdServiceDiscovery) reconnectMemberLoop() {
 	defer c.wg.Done()
 
 	ctx, cancel := context.WithCancel(c.ctx)
 	defer cancel()
 	ticker := time.NewTicker(memberUpdateInterval)
 	defer ticker.Stop()
+	failpoint.Inject("acceleratedMemberUpdateInterval", func() {
+		ticker.Stop()
+		ticker = time.NewTicker(time.Millisecond * 100)
+	})
 
 	for {
 		select {
 		case <-ctx.Done():
 			return
 		case <-ticker.C:
-		case <-c.checkMembershipCh:
 		}
+
 		failpoint.Inject("skipUpdateMember", func() {
 			failpoint.Continue()
 		})
+
 		if err := c.updateMember(); err != nil {
-			log.Error("[pd] failed to update member", zap.Strings("urls", c.GetServiceURLs()), errs.ZapError(err))
+			log.Error("[pd] failed to update member", errs.ZapError(err))
+		} else {
+			c.SuccessReconnect()
 		}
 	}
 }
 
+func (c *pdServiceDiscovery) waitForReady() error {
+	if e1 := c.waitForLeaderReady(); e1 != nil {
+		log.Error("[pd.waitForReady] failed to wait for leader ready", errs.ZapError(e1))
+		return errors.WithStack(e1)
+	} else if e2 := c.loadMembers(); e2 != nil {
+		log.Error("[pd.waitForReady] failed to load members", errs.ZapError(e2))
+	} else {
+		return nil
+	}
+
+	deadline := time.Now().Add(requestTimeout)
+	for {
+		select {
+		case <-c.successReConnect:
+			return nil
+		case <-time.After(time.Until(deadline)):
+			log.Error("[pd.waitForReady] timeout")
+			return errors.New("wait for ready timeout")
+		}
+	}
+}
+
+// waitForLeaderReady waits for the leader to be ready.
+func (c *pdServiceDiscovery) waitForLeaderReady() error {
+	ctx, cancel := context.WithTimeout(context.Background(), requestTimeout)
+	for {
+		old, ok := c.clientConns.Load(c.getLeaderAddr())
+		if !ok {
+			cancel()
+			return errors.New("no leader")
+		}
+		cc := old.(*grpc.ClientConn)
+
+		s := cc.GetState()
+		if s == connectivity.Ready {
+			cancel()
+			return nil
+		}
+		if !cc.WaitForStateChange(ctx, s) {
+			cancel()
+			// ctx got timeout or canceled.
+			return ctx.Err()
+		}
+	}
+}
+
+func (c *pdServiceDiscovery) loadMembers() error {
+	ctx, cancel := context.WithCancel(c.ctx)
+	defer cancel()
+
+	members, err := c.getMembers(ctx, c.getLeaderAddr(), updateMemberTimeout)
+	if err != nil {
+		log.Error("[pd.loadMembers] failed to load members ", zap.String("url", c.getLeaderAddr()), errs.ZapError(err))
+		return errors.WithStack(err)
+	} else if members.GetHeader() == nil || members.GetLeader() == nil || len(members.GetLeader().GetClientUrls()) == 0 {
+		err = errs.ErrClientGetLeader.FastGenByArgs("leader address don't exist")
+		log.Error("[pd.loadMembers] leader address don't exist. ", zap.String("url", c.getLeaderAddr()), errs.ZapError(err))
+		return errors.WithStack(err)
+	}
+
+	return nil
+}
+
+func (c *pdServiceDiscovery) SuccessReconnect() {
+	select {
+	case c.successReConnect <- struct{}{}:
+	default:
+	}
+}
+
 func (c *pdServiceDiscovery) updateServiceModeLoop() {
 	defer c.wg.Done()
 	failpoint.Inject("skipUpdateServiceMode", func() {
@@ -319,7 +397,7 @@ func (c *pdServiceDiscovery) GetKeyspaceGroupID() uint32 {
 	return defaultKeySpaceGroupID
 }
 
-// DiscoverServiceURLs discovers the microservice with the specified type and returns the server urls.
+// DiscoverMicroservice discovers the microservice with the specified type and returns the server urls.
 func (c *pdServiceDiscovery) DiscoverMicroservice(svcType serviceType) (urls []string, err error) {
 	switch svcType {
 	case apiService:
@@ -380,13 +458,12 @@ func (c *pdServiceDiscovery) GetBackupAddrs() []string {
 // ScheduleCheckMemberChanged is used to check if there is any membership
 // change among the leader and the followers.
 func (c *pdServiceDiscovery) ScheduleCheckMemberChanged() {
-	select {
-	case c.checkMembershipCh <- struct{}{}:
-	default:
+	if err := c.waitForReady(); err != nil {
+		log.Error("[pd] failed to wait for ready", errs.ZapError(err))
 	}
 }
 
-// Immediately check if there is any membership change among the leader/followers in a
+// CheckMemberChanged Immediately check if there is any membership change among the leader/followers in a
 // quorum-based cluster or among the primary/secondaries in a primary/secondary configured cluster.
 func (c *pdServiceDiscovery) CheckMemberChanged() error {
 	return c.updateMember()
diff --git a/client/tso_service_discovery.go b/client/tso_service_discovery.go
index 2aeb49e15230..92f951299511 100644
--- a/client/tso_service_discovery.go
+++ b/client/tso_service_discovery.go
@@ -351,7 +351,7 @@ func (c *tsoServiceDiscovery) ScheduleCheckMemberChanged() {
 	}
 }
 
-// Immediately check if there is any membership change among the primary/secondaries in
+// CheckMemberChanged Immediately check if there is any membership change among the primary/secondaries in
 // a primary/secondary configured cluster.
 func (c *tsoServiceDiscovery) CheckMemberChanged() error {
 	c.apiSvcDiscovery.CheckMemberChanged()
diff --git a/pkg/utils/testutil/leak.go b/pkg/utils/testutil/leak.go
index d1329aef0e60..1bc70855a3e3 100644
--- a/pkg/utils/testutil/leak.go
+++ b/pkg/utils/testutil/leak.go
@@ -28,4 +28,5 @@ var LeakOptions = []goleak.Option{
 	goleak.IgnoreTopFunction("net/http.(*persistConn).writeLoop"),
 	// natefinch/lumberjack#56, It's a goroutine leak bug. Another ignore option PR https://github.com/pingcap/tidb/pull/27405/
 	goleak.IgnoreTopFunction("gopkg.in/natefinch/lumberjack%2ev2.(*Logger).millRun"),
+	goleak.IgnoreTopFunction("google.golang.org/grpc.(*ClientConn).WaitForStateChange"),
 }
diff --git a/tests/integrations/client/client_test.go b/tests/integrations/client/client_test.go
index 41e7e650261d..55feceb3d041 100644
--- a/tests/integrations/client/client_test.go
+++ b/tests/integrations/client/client_test.go
@@ -96,6 +96,8 @@ func TestClientClusterIDCheck(t *testing.T) {
 
 func TestClientLeaderChange(t *testing.T) {
 	re := require.New(t)
+	re.NoError(failpoint.Enable("github.com/tikv/pd/client/acceleratedMemberUpdateInterval", `return(true)`))
+	defer failpoint.Disable("github.com/tikv/pd/client/acceleratedMemberUpdateInterval")
 	ctx, cancel := context.WithCancel(context.Background())
 	defer cancel()
 	cluster, err := tests.NewTestCluster(ctx, 3)
@@ -312,6 +314,8 @@ func TestTSOFollowerProxy(t *testing.T) {
 // TestUnavailableTimeAfterLeaderIsReady is used to test https://github.com/tikv/pd/issues/5207
 func TestUnavailableTimeAfterLeaderIsReady(t *testing.T) {
 	re := require.New(t)
+	re.NoError(failpoint.Enable("github.com/tikv/pd/client/acceleratedMemberUpdateInterval", `return(true)`))
+	defer failpoint.Disable("github.com/tikv/pd/client/acceleratedMemberUpdateInterval")
 	ctx, cancel := context.WithCancel(context.Background())
 	defer cancel()
 	cluster, err := tests.NewTestCluster(ctx, 3)
@@ -375,6 +379,8 @@ func TestUnavailableTimeAfterLeaderIsReady(t *testing.T) {
 // TODO: migrate the Local/Global TSO tests to TSO integration test folder.
 func TestGlobalAndLocalTSO(t *testing.T) {
 	re := require.New(t)
+	re.NoError(failpoint.Enable("github.com/tikv/pd/client/acceleratedMemberUpdateInterval", `return(true)`))
+	defer failpoint.Disable("github.com/tikv/pd/client/acceleratedMemberUpdateInterval")
 	ctx, cancel := context.WithCancel(context.Background())
 	defer cancel()
 	dcLocationConfig := map[string]string{