diff --git a/tests/robustness/failpoint/cluster.go b/tests/robustness/failpoint/cluster.go
new file mode 100644
index 000000000..f6253ed98
--- /dev/null
+++ b/tests/robustness/failpoint/cluster.go
@@ -0,0 +1,165 @@
+// Copyright 2023 The etcd Authors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+package failpoint
+
+import (
+	"context"
+	"fmt"
+	"math/rand"
+	"os"
+	"strings"
+	"testing"
+	"time"
+
+	"go.uber.org/zap"
+
+	clientv3 "go.etcd.io/etcd/client/v3"
+	"go.etcd.io/etcd/server/v3/etcdserver"
+	"go.etcd.io/etcd/tests/v3/framework/e2e"
+)
+
+var (
+	MemberReplace Failpoint = memberReplace{}
+)
+
+type memberReplace struct{}
+
+func (f memberReplace) Inject(ctx context.Context, t *testing.T, lg *zap.Logger, clus *e2e.EtcdProcessCluster) error {
+	memberId := rand.Int() % len(clus.Procs)
+	member := clus.Procs[memberId]
+	var endpoints []string
+	for i := 1; i < len(clus.Procs); i++ {
+		endpoints = append(endpoints, clus.Procs[(memberId+i)%len(clus.Procs)].EndpointsGRPC()...)
+	}
+	cc, err := clientv3.New(clientv3.Config{
+		Endpoints:            endpoints,
+		Logger:               zap.NewNop(),
+		DialKeepAliveTime:    50 * time.Second,
+		DialKeepAliveTimeout: 100 * time.Millisecond,
+	})
+	if err != nil {
+		return err
+	}
+	defer cc.Close()
+	memberID, found, err := getID(ctx, cc, member.Config().Name)
+	if err != nil {
+		return err
+	}
+	if !found {
+		t.Fatal("Member not found")
+	}
+	// Need to wait health interval for cluster to accept member changes
+	time.Sleep(etcdserver.HealthInterval)
+	lg.Info("Removing member", zap.String("member", member.Config().Name))
+	_, err = cc.MemberRemove(ctx, memberID)
+	if err != nil {
+		return err
+	}
+	_, found, err = getID(ctx, cc, member.Config().Name)
+	if err != nil {
+		return err
+	}
+	if found {
+		t.Fatal("Expected member to be removed")
+	}
+
+	for member.IsRunning() {
+		err = member.Kill()
+		if err != nil {
+			lg.Info("Sending kill signal failed", zap.Error(err))
+		}
+		err = member.Wait(ctx)
+		if err != nil && !strings.Contains(err.Error(), "unexpected exit code") {
+			lg.Info("Failed to kill the process", zap.Error(err))
+			return fmt.Errorf("failed to kill the process within %s, err: %w", triggerTimeout, err)
+		}
+	}
+	lg.Info("Removing member data", zap.String("member", member.Config().Name))
+	err = os.RemoveAll(member.Config().DataDirPath)
+	if err != nil {
+		return err
+	}
+
+	lg.Info("Adding member back", zap.String("member", member.Config().Name))
+	removedMemberPeerUrl := member.Config().PeerURL.String()
+	for {
+		select {
+		case <-ctx.Done():
+			return ctx.Err()
+		default:
+		}
+		reqCtx, cancel := context.WithTimeout(ctx, time.Second)
+		_, err = cc.MemberAdd(reqCtx, []string{removedMemberPeerUrl})
+		cancel()
+		if err == nil {
+			break
+		}
+	}
+	err = patchArgs(member.Config().Args, "initial-cluster-state", "existing")
+	if err != nil {
+		return err
+	}
+	lg.Info("Starting member", zap.String("member", member.Config().Name))
+	err = member.Start(ctx)
+	if err != nil {
+		return err
+	}
+	for {
+		select {
+		case <-ctx.Done():
+			return ctx.Err()
+		default:
+		}
+		_, found, err := getID(ctx, cc, member.Config().Name)
+		if err != nil {
+			continue
+		}
+		if found {
+			break
+		}
+	}
+	return nil
+}
+
+func (f memberReplace) Name() string {
+	return "MemberReplace"
+}
+
+func (f memberReplace) Available(config e2e.EtcdProcessClusterConfig, _ e2e.EtcdProcess) bool {
+	return config.ClusterSize > 1
+}
+
+func getID(ctx context.Context, cc *clientv3.Client, name string) (id uint64, found bool, err error) {
+	resp, err := cc.MemberList(ctx)
+	if err != nil {
+		return 0, false, err
+	}
+	for _, member := range resp.Members {
+		if name == member.Name {
+			return member.ID, true, nil
+		}
+	}
+	return 0, false, nil
+}
+
+func patchArgs(args []string, flag, newValue string) error {
+	for i, arg := range args {
+		if strings.Contains(arg, flag) {
+			args[i] = fmt.Sprintf("--%s=%s", flag, newValue)
+			return nil
+		}
+	}
+	return fmt.Errorf("--%s flag not found", flag)
+}
diff --git a/tests/robustness/failpoint/failpoint.go b/tests/robustness/failpoint/failpoint.go
index e4441899c..acb75716d 100644
--- a/tests/robustness/failpoint/failpoint.go
+++ b/tests/robustness/failpoint/failpoint.go
@@ -46,6 +46,7 @@ var (
 		RaftBeforeFollowerSendPanic, RaftBeforeApplySnapPanic, RaftAfterApplySnapPanic, RaftAfterWALReleasePanic,
 		RaftBeforeSaveSnapPanic, RaftAfterSaveSnapPanic, BlackholeUntilSnapshot,
 		beforeApplyOneConfChangeSleep,
+		MemberReplace,
 	}
 )