diff --git a/etcdserver/apply.go b/etcdserver/apply.go
index 22e0e8543..006df9bc7 100644
--- a/etcdserver/apply.go
+++ b/etcdserver/apply.go
@@ -24,6 +24,7 @@ import (
 	"github.com/coreos/go-semver/semver"
 	"go.etcd.io/etcd/auth"
 	"go.etcd.io/etcd/etcdserver/api"
+	"go.etcd.io/etcd/etcdserver/api/membership"
 	"go.etcd.io/etcd/etcdserver/api/membership/membershippb"
 	pb "go.etcd.io/etcd/etcdserver/etcdserverpb"
 	"go.etcd.io/etcd/lease"
@@ -53,6 +54,7 @@ type applyResult struct {
 // applierV3Internal is the interface for processing internal V3 raft request
 type applierV3Internal interface {
 	ClusterVersionSet(r *membershippb.ClusterVersionSetRequest)
+	ClusterMemberAttrSet(r *membershippb.ClusterMemberAttrSetRequest)
 }
 
 // applierV3 is the interface for processing V3 raft messages
@@ -185,6 +187,8 @@ func (a *applierV3backend) Apply(r *pb.InternalRaftRequest) *applyResult {
 		ar.resp, ar.err = a.s.applyV3.RoleList(r.AuthRoleList)
 	case r.ClusterVersionSet != nil:
 		a.s.applyV3Internal.ClusterVersionSet(r.ClusterVersionSet)
+	case r.ClusterMemberAttrSet != nil:
+		a.s.applyV3Internal.ClusterMemberAttrSet(r.ClusterMemberAttrSet)
 	default:
 		panic("not implemented")
 	}
@@ -852,6 +856,16 @@ func (a *applierV3backend) ClusterVersionSet(r *membershippb.ClusterVersionSetRe
 	a.s.cluster.SetVersion(semver.Must(semver.NewVersion(r.Ver)), api.UpdateCapability)
 }
 
+func (a *applierV3backend) ClusterMemberAttrSet(r *membershippb.ClusterMemberAttrSetRequest) {
+	a.s.cluster.UpdateAttributes(
+		types.ID(r.Member_ID),
+		membership.Attributes{
+			Name:       r.MemberAttributes.Name,
+			ClientURLs: r.MemberAttributes.ClientUrls,
+		},
+	)
+}
+
 type quotaApplierV3 struct {
 	applierV3
 	q Quota
diff --git a/etcdserver/server.go b/etcdserver/server.go
index dbcf058ee..b434ea2d5 100644
--- a/etcdserver/server.go
+++ b/etcdserver/server.go
@@ -732,7 +732,7 @@ func (s *EtcdServer) adjustTicks() {
 func (s *EtcdServer) Start() {
 	s.start()
 	s.goAttach(func() { s.adjustTicks() })
-	s.goAttach(func() { s.publish(s.Cfg.ReqTimeout()) })
+	s.goAttach(func() { s.publishV3(s.Cfg.ReqTimeout()) })
 	s.goAttach(s.purgeFile)
 	s.goAttach(func() { monitorFileDescriptor(s.getLogger(), s.stopping) })
 	s.goAttach(s.monitorVersions)
@@ -1992,6 +1992,67 @@ func (s *EtcdServer) sync(timeout time.Duration) {
 	})
 }
 
+// publishV3 registers server information into the cluster using v3 request. The
+// information is the JSON representation of this server's member struct, updated
+// with the static clientURLs of the server.
+// The function keeps attempting to register until it succeeds,
+// or its server is stopped.
+func (s *EtcdServer) publishV3(timeout time.Duration) {
+	req := &membershippb.ClusterMemberAttrSetRequest{
+		Member_ID: uint64(s.id),
+		MemberAttributes: &membershippb.Attributes{
+			Name:       s.attributes.Name,
+			ClientUrls: s.attributes.ClientURLs,
+		},
+	}
+
+	for {
+		select {
+		case <-s.stopping:
+			if lg := s.getLogger(); lg != nil {
+				lg.Warn(
+					"stopped publish because server is stopping",
+					zap.String("local-member-id", s.ID().String()),
+					zap.String("local-member-attributes", fmt.Sprintf("%+v", s.attributes)),
+					zap.Duration("publish-timeout", timeout),
+				)
+			}
+			return
+
+		default:
+		}
+
+		ctx, cancel := context.WithTimeout(s.ctx, timeout)
+		_, err := s.raftRequest(ctx, pb.InternalRaftRequest{ClusterMemberAttrSet: req})
+		cancel()
+		switch err {
+		case nil:
+			close(s.readych)
+			if lg := s.getLogger(); lg != nil {
+				lg.Info(
+					"published local member to cluster through raft",
+					zap.String("local-member-id", s.ID().String()),
+					zap.String("local-member-attributes", fmt.Sprintf("%+v", s.attributes)),
+					zap.String("cluster-id", s.cluster.ID().String()),
+					zap.Duration("publish-timeout", timeout),
+				)
+			}
+			return
+
+		default:
+			if lg := s.getLogger(); lg != nil {
+				lg.Warn(
+					"failed to publish local member to cluster through raft",
+					zap.String("local-member-id", s.ID().String()),
+					zap.String("local-member-attributes", fmt.Sprintf("%+v", s.attributes)),
+					zap.Duration("publish-timeout", timeout),
+					zap.Error(err),
+				)
+			}
+		}
+	}
+}
+
 // publish registers server information into the cluster. The information
 // is the JSON representation of this server's member struct, updated with the
 // static clientURLs of the server.