diff --git a/tests/robustness/failpoints.go b/tests/robustness/failpoints.go
index 9fb3d5a2bbad..397a9fa275a6 100644
--- a/tests/robustness/failpoints.go
+++ b/tests/robustness/failpoints.go
@@ -23,6 +23,7 @@ import (
 	"time"
 
 	"go.uber.org/zap"
+	healthpb "google.golang.org/grpc/health/grpc_health_v1"
 
 	clientv3 "go.etcd.io/etcd/client/v3"
 	"go.etcd.io/etcd/tests/v3/framework/e2e"
@@ -85,30 +86,74 @@ var (
 	}}
 )
 
-func triggerFailpoints(ctx context.Context, t *testing.T, lg *zap.Logger, clus *e2e.EtcdProcessCluster, config FailpointConfig) {
+func triggerFailpoints(ctx context.Context, t *testing.T, lg *zap.Logger, clus *e2e.EtcdProcessCluster, config FailpointConfig) error {
 	var err error
 	successes := 0
 	failures := 0
 	for _, proc := range clus.Procs {
 		if !config.failpoint.Available(proc) {
 			t.Errorf("Failpoint %q not available on %s", config.failpoint.Name(), proc.Config().Name)
-			return
+			return nil
 		}
 	}
 	for successes < config.count && failures < config.retries {
 		time.Sleep(config.waitBetweenTriggers)
-		lg.Info("Triggering failpoint\n", zap.String("failpoint", config.failpoint.Name()))
+
+		lg.Info("Verifying cluster health before failpoint", zap.String("failpoint", config.failpoint.Name()))
+		if err = verifyClusterHealth(ctx, t, clus); err != nil {
+			t.Errorf("failed to verify cluster health before failpoint injection, err: %v", err)
+			return err
+		}
+
+		lg.Info("Triggering failpoint", zap.String("failpoint", config.failpoint.Name()))
 		err = config.failpoint.Trigger(ctx, t, lg, clus)
 		if err != nil {
 			lg.Info("Failed to trigger failpoint", zap.String("failpoint", config.failpoint.Name()), zap.Error(err))
 			failures++
 			continue
 		}
+
+		lg.Info("Verifying cluster health after failpoint", zap.String("failpoint", config.failpoint.Name()))
+		if err = verifyClusterHealth(ctx, t, clus); err != nil {
+			t.Errorf("failed to verify cluster health after failpoint injection, err: %v", err)
+			return err
+		}
+
 		successes++
 	}
 	if successes < config.count || failures >= config.retries {
 		t.Errorf("failed to trigger failpoints enough times, err: %v", err)
 	}
+
+	return nil
+}
+
+func verifyClusterHealth(ctx context.Context, t *testing.T, clus *e2e.EtcdProcessCluster) error {
+	for i := 0; i < len(clus.Procs); i++ {
+		clusterClient, err := clientv3.New(clientv3.Config{
+			Endpoints:            clus.Procs[i].EndpointsGRPC(),
+			Logger:               zap.NewNop(),
+			DialKeepAliveTime:    1 * time.Millisecond,
+			DialKeepAliveTimeout: 5 * time.Millisecond,
+		})
+		if err != nil {
+			return fmt.Errorf("Error creating client for cluster %s: %v", clus.Procs[i].Config().Name, err)
+		}
+		defer clusterClient.Close()
+
+		cli := healthpb.NewHealthClient(clusterClient.ActiveConnection())
+		resp, err := cli.Check(ctx, &healthpb.HealthCheckRequest{})
+		if err != nil {
+			return fmt.Errorf("Error checking member %s health: %v", clus.Procs[i].Config().Name, err)
+		}
+		if resp.Status != healthpb.HealthCheckResponse_SERVING {
+			return fmt.Errorf("Member %s health status expected %s, got %s",
+				clus.Procs[i].Config().Name,
+				healthpb.HealthCheckResponse_SERVING,
+				resp.Status)
+		}
+	}
+	return nil
 }
 
 type FailpointConfig struct {
diff --git a/tests/robustness/linearizability_test.go b/tests/robustness/linearizability_test.go
index 5619dc0b6007..958a29762526 100644
--- a/tests/robustness/linearizability_test.go
+++ b/tests/robustness/linearizability_test.go
@@ -197,8 +197,12 @@ func runScenario(ctx context.Context, t *testing.T, lg *zap.Logger, clus *e2e.Et
 	// Run multiple test components (traffic, failpoints, etc) in parallel and use canceling context to propagate stop signal.
 	g := errgroup.Group{}
 	trafficCtx, trafficCancel := context.WithCancel(ctx)
+	watchCtx, watchCancel := context.WithCancel(ctx)
 	g.Go(func() error {
-		triggerFailpoints(ctx, t, lg, clus, failpoint)
+		err := triggerFailpoints(ctx, t, lg, clus, failpoint)
+		if err != nil {
+			watchCancel()
+		}
 		time.Sleep(time.Second)
 		trafficCancel()
 		return nil
@@ -211,7 +215,7 @@ func runScenario(ctx context.Context, t *testing.T, lg *zap.Logger, clus *e2e.Et
 		return nil
 	})
 	g.Go(func() error {
-		responses = collectClusterWatchEvents(ctx, t, clus, maxRevisionChan)
+		responses = collectClusterWatchEvents(watchCtx, t, clus, maxRevisionChan)
 		return nil
 	})
 	g.Wait()