diff --git a/internal/indexcoord/index_coord.go b/internal/indexcoord/index_coord.go
index 33782e4405..0284041e96 100644
--- a/internal/indexcoord/index_coord.go
+++ b/internal/indexcoord/index_coord.go
@@ -55,6 +55,7 @@ type IndexCoord struct {
 
 	sched   *TaskScheduler
 	session *sessionutil.Session
+	liveCh  <-chan bool
 
 	eventChan <-chan *sessionutil.SessionEvent
 
@@ -106,7 +107,7 @@ func (i *IndexCoord) Register() error {
 	if i.session == nil {
 		return errors.New("failed to initialize session")
 	}
-	i.session.Init(typeutil.IndexCoordRole, Params.Address, true)
+	i.liveCh = i.session.Init(typeutil.IndexCoordRole, Params.Address, true)
 	return nil
 }
 
@@ -236,6 +237,10 @@ func (i *IndexCoord) Start() error {
 		i.loopWg.Add(1)
 		go i.watchMetaLoop()
 
+		go i.session.LivenessCheck(i.loopCtx, i.liveCh, func() {
+			i.Stop()
+		})
+
 		startErr = i.sched.Start()
 
 		i.UpdateStateCode(internalpb.StateCode_Healthy)
diff --git a/internal/indexnode/indexnode.go b/internal/indexnode/indexnode.go
index e2ae1373be..9b4945f893 100644
--- a/internal/indexnode/indexnode.go
+++ b/internal/indexnode/indexnode.go
@@ -63,6 +63,7 @@ type IndexNode struct {
 
 	kv      kv.BaseKV
 	session *sessionutil.Session
+	liveCh  <-chan bool
 
 	// Add callback functions at different stages
 	startCallbacks []func()
@@ -97,7 +98,7 @@ func (i *IndexNode) Register() error {
 	if i.session == nil {
 		return errors.New("failed to initialize session")
 	}
-	i.session.Init(typeutil.IndexNodeRole, Params.IP+":"+strconv.Itoa(Params.Port), false)
+	i.liveCh = i.session.Init(typeutil.IndexNodeRole, Params.IP+":"+strconv.Itoa(Params.Port), false)
 	Params.NodeID = i.session.ServerID
 	return nil
 }
@@ -150,6 +151,11 @@ func (i *IndexNode) Init() error {
 func (i *IndexNode) Start() error {
 	i.sched.Start()
 
+	//start liveness check
+	go i.session.LivenessCheck(i.loopCtx, i.liveCh, func() {
+		i.Stop()
+	})
+
 	i.UpdateStateCode(internalpb.StateCode_Healthy)
 	log.Debug("IndexNode", zap.Any("State", i.stateCode.Load()))
 	// Start callbacks
diff --git a/internal/querycoord/query_coord.go b/internal/querycoord/query_coord.go
index e581038b87..b85a75849f 100644
--- a/internal/querycoord/query_coord.go
+++ b/internal/querycoord/query_coord.go
@@ -62,6 +62,7 @@ type QueryCoord struct {
 	rootCoordClient types.RootCoord
 
 	session   *sessionutil.Session
+	liveCh    <-chan bool
 	eventChan <-chan *sessionutil.SessionEvent
 
 	stateCode  atomic.Value
@@ -75,7 +76,7 @@ type QueryCoord struct {
 func (qc *QueryCoord) Register() error {
 	log.Debug("query coord session info", zap.String("metaPath", Params.MetaRootPath), zap.Strings("etcdEndPoints", Params.EtcdEndpoints), zap.String("address", Params.Address))
 	qc.session = sessionutil.NewSession(qc.loopCtx, Params.MetaRootPath, Params.EtcdEndpoints)
-	qc.session.Init(typeutil.QueryCoordRole, Params.Address, true)
+	qc.liveCh = qc.session.Init(typeutil.QueryCoordRole, Params.Address, true)
 	Params.NodeID = uint64(qc.session.ServerID)
 	return nil
 }
@@ -130,6 +131,10 @@ func (qc *QueryCoord) Start() error {
 	qc.loopWg.Add(1)
 	go qc.watchMetaLoop()
 
+	go qc.session.LivenessCheck(qc.loopCtx, qc.liveCh, func() {
+		qc.Stop()
+	})
+
 	return nil
 }
 
diff --git a/internal/querynode/query_node.go b/internal/querynode/query_node.go
index b1988b8bc9..1e7fbce667 100644
--- a/internal/querynode/query_node.go
+++ b/internal/querynode/query_node.go
@@ -50,6 +50,9 @@ type QueryNode struct {
 
 	stateCode atomic.Value
 
+	// liveness channel with etcd
+	liveCh <-chan bool
+
 	// internal components
 	historical *historical
 	streaming  *streaming
@@ -89,7 +92,7 @@ func NewQueryNode(ctx context.Context, factory msgstream.Factory) *QueryNode {
 func (node *QueryNode) Register() error {
 	log.Debug("query node session info", zap.String("metaPath", Params.MetaRootPath), zap.Strings("etcdEndPoints", Params.EtcdEndpoints))
 	node.session = sessionutil.NewSession(node.queryNodeLoopCtx, Params.MetaRootPath, Params.EtcdEndpoints)
-	node.session.Init(typeutil.QueryNodeRole, Params.QueryNodeIP+":"+strconv.FormatInt(Params.QueryNodePort, 10), false)
+	node.liveCh = node.session.Init(typeutil.QueryNodeRole, Params.QueryNodeIP+":"+strconv.FormatInt(Params.QueryNodePort, 10), false)
 	Params.QueryNodeID = node.session.ServerID
 	log.Debug("query nodeID", zap.Int64("nodeID", Params.QueryNodeID))
 	log.Debug("query node address", zap.String("address", node.session.Address))
@@ -173,6 +176,12 @@ func (node *QueryNode) Start() error {
 
 	// start services
 	go node.historical.start()
+
+	// start liveness check
+	go node.session.LivenessCheck(node.queryNodeLoopCtx, node.liveCh, func() {
+		node.Stop()
+	})
+
 	node.UpdateStateCode(internalpb.StateCode_Healthy)
 	return nil
 }
diff --git a/internal/util/sessionutil/session_util.go b/internal/util/sessionutil/session_util.go
index 015392a654..ff7e1dccdb 100644
--- a/internal/util/sessionutil/session_util.go
+++ b/internal/util/sessionutil/session_util.go
@@ -335,3 +335,27 @@ func (s *Session) WatchServices(prefix string, revision int64) (eventChannel <-c
 	}()
 	return eventCh
 }
+
+// LivenessCheck performs liveness check with provided context and channel
+// ctx controls the liveness check loop
+// ch is the liveness signal channel, ch is closed only when the session is expired
+// callback is the function to call when ch is closed, note that callback will not be invoked when loop exits due to context
+func (s *Session) LivenessCheck(ctx context.Context, ch <-chan bool, callback func()) {
+	for {
+		select {
+		case _, ok := <-ch:
+			// ok, still alive
+			if ok {
+				continue
+			}
+			// not ok, connection lost
+			log.Warn("connection lost detected, shuting down")
+			if callback != nil {
+				go callback()
+			}
+			return
+		case <-ctx.Done():
+			log.Debug("liveness exits due to context done")
+		}
+	}
+}
diff --git a/internal/util/sessionutil/session_util_test.go b/internal/util/sessionutil/session_util_test.go
index 36a914594b..c4bd19fd9f 100644
--- a/internal/util/sessionutil/session_util_test.go
+++ b/internal/util/sessionutil/session_util_test.go
@@ -165,3 +165,39 @@ func TestUpdateSessions(t *testing.T) {
 	assert.Equal(t, addEventLen, 10)
 	assert.Equal(t, delEventLen, 10)
 }
+
+func TestSessionLivenessCheck(t *testing.T) {
+	s := &Session{}
+	ctx := context.Background()
+	ch := make(chan bool)
+	signal := make(chan struct{}, 1)
+
+	flag := false
+
+	go s.LivenessCheck(ctx, ch, func() {
+		flag = true
+		signal <- struct{}{}
+	})
+
+	assert.False(t, flag)
+	ch <- true
+
+	assert.False(t, flag)
+	close(ch)
+
+	<-signal
+	assert.True(t, flag)
+
+	ctx, cancel := context.WithCancel(ctx)
+	cancel()
+	ch = make(chan bool)
+
+	flag = false
+
+	go s.LivenessCheck(ctx, ch, func() {
+		flag = true
+		signal <- struct{}{}
+	})
+
+	assert.False(t, flag)
+}