diff --git a/pkg/utils/etcdutil/etcdutil.go b/pkg/utils/etcdutil/etcdutil.go
index 3eb1afabeac..04491fc7109 100644
--- a/pkg/utils/etcdutil/etcdutil.go
+++ b/pkg/utils/etcdutil/etcdutil.go
@@ -114,7 +114,7 @@ func AddEtcdMember(client *clientv3.Client, urls []string) (*clientv3.MemberAddR
 }
 
 // ListEtcdMembers returns a list of internal etcd members.
-func ListEtcdMembers(ctx context.Context, client *clientv3.Client) (*clientv3.MemberListResponse, error) {
+func ListEtcdMembers(ctx context.Context, client *clientv3.Client, linearizables ...bool) (*clientv3.MemberListResponse, error) {
 	failpoint.Inject("SlowEtcdMemberList", func(val failpoint.Value) {
 		d := val.(int)
 		time.Sleep(time.Duration(d) * time.Second)
@@ -125,7 +125,12 @@ func ListEtcdMembers(ctx context.Context, client *clientv3.Client) (*clientv3.Me
 	// If Linearizable is set to false, the member list will be returned with server's local data.
 	// If Linearizable is set to true, it is served with linearizable guarantee. If the server is disconnected from quorum, `MemberList` call will fail.
 	c := clientv3.RetryClusterClient(client)
-	resp, err := c.MemberList(newCtx, &etcdserverpb.MemberListRequest{Linearizable: false})
+	linearizable := true
+	if len(linearizables) > 0 {
+		linearizable = linearizables[0]
+	}
+
+	resp, err := c.MemberList(newCtx, &etcdserverpb.MemberListRequest{Linearizable: linearizable})
 	cancel()
 	if err != nil {
 		return (*clientv3.MemberListResponse)(resp), errs.ErrEtcdMemberList.Wrap(err).GenWithStackByCause()
diff --git a/pkg/utils/etcdutil/etcdutil_test.go b/pkg/utils/etcdutil/etcdutil_test.go
index 99f71ffde05..f4a650709ea 100644
--- a/pkg/utils/etcdutil/etcdutil_test.go
+++ b/pkg/utils/etcdutil/etcdutil_test.go
@@ -227,6 +227,7 @@ func checkEtcdClientHealth(re *require.Assertions, client *clientv3.Client) {
 
 func TestEtcdScaleInAndOut(t *testing.T) {
 	re := require.New(t)
+	re.NoError(failpoint.Enable("github.com/tikv/pd/pkg/utils/etcdutil/fastTick", "return(true)"))
 	// Start a etcd server.
 	servers, _, clean := NewTestEtcdCluster(t, 1)
 	defer clean()
@@ -249,6 +250,7 @@ func TestEtcdScaleInAndOut(t *testing.T) {
 	_, err = RemoveEtcdMember(client1, uint64(etcd1.Server.ID()))
 	re.NoError(err)
 	checkMembers(re, client2, []*embed.Etcd{etcd2})
+	re.NoError(failpoint.Disable("github.com/tikv/pd/pkg/utils/etcdutil/fastTick"))
 }
 
 func TestRandomKillEtcd(t *testing.T) {
diff --git a/pkg/utils/etcdutil/testutil.go b/pkg/utils/etcdutil/testutil.go
index e67ae415736..3b1f90a2ac2 100644
--- a/pkg/utils/etcdutil/testutil.go
+++ b/pkg/utils/etcdutil/testutil.go
@@ -113,17 +113,17 @@ func MustAddEtcdMember(t *testing.T, cfg1 *embed.Config, client *clientv3.Client
 	peerURL := cfg2.ListenPeerUrls[0].String()
 	addResp, err := AddEtcdMember(client, []string{peerURL})
 	re.NoError(err)
+	// Start the new etcd member.
+	etcd2, err := embed.StartEtcd(cfg2)
+	re.NoError(err)
+	re.Equal(uint64(etcd2.Server.ID()), addResp.Member.ID)
+	<-etcd2.Server.ReadyNotify()
 	// Check the client can get the new member.
 	testutil.Eventually(re, func() bool {
 		members, err := ListEtcdMembers(client.Ctx(), client)
 		re.NoError(err)
 		return len(addResp.Members) == len(members.Members)
 	})
-	// Start the new etcd member.
-	etcd2, err := embed.StartEtcd(cfg2)
-	re.NoError(err)
-	re.Equal(uint64(etcd2.Server.ID()), addResp.Member.ID)
-	<-etcd2.Server.ReadyNotify()
 	return etcd2
 }
 
diff --git a/server/join/join.go b/server/join/join.go
index bdc2704cd47..bec25df52a7 100644
--- a/server/join/join.go
+++ b/server/join/join.go
@@ -133,8 +133,9 @@ func PrepareJoinCluster(cfg *config.Config) error {
 		return err
 	}
 
+	originMembers := listResp.Members
 	existed := false
-	for _, m := range listResp.Members {
+	for _, m := range originMembers {
 		if len(m.Name) == 0 {
 			log.Error("there is an abnormal joined member in the current member list",
 				zap.Uint64("id", m.ID),
@@ -174,8 +175,15 @@ func PrepareJoinCluster(cfg *config.Config) error {
 		listSucc bool
 	)
 
+	// If there is only one member in the cluster, the cluster maybe lost leader
+	// since quorum is not active after adding the new member.
+	linearizable := true
+	if len(originMembers) == 1 {
+		linearizable = false
+	}
+
 	for i := 0; i < listMemberRetryTimes; i++ {
-		listResp, err = etcdutil.ListEtcdMembers(client.Ctx(), client)
+		listResp, err = etcdutil.ListEtcdMembers(client.Ctx(), client, linearizable)
 		if err != nil {
 			return err
 		}
diff --git a/tests/server/join/join_test.go b/tests/server/join/join_test.go
index 5d087caf5e4..03a0c05e665 100644
--- a/tests/server/join/join_test.go
+++ b/tests/server/join/join_test.go
@@ -113,6 +113,18 @@ func TestFailedAndDeletedPDJoinsPreviousCluster(t *testing.T) {
 	members, err := etcdutil.ListEtcdMembers(ctx, client)
 	re.NoError(err)
 	re.Len(members.Members, 2)
+
+	// Join another PD.
+	pd4, err := cluster.Join(ctx)
+	re.NoError(err)
+	err = pd4.Run()
+	re.NoError(err)
+	_, err = os.Stat(filepath.Join(pd4.GetConfig().DataDir, "join"))
+	re.False(os.IsNotExist(err))
+	re.NotEmpty(cluster.WaitLeader())
+	members, err = etcdutil.ListEtcdMembers(ctx, client)
+	re.NoError(err)
+	re.Len(members.Members, 3)
 }
 
 // A deleted PD joins the previous cluster.