diff --git a/consul/config.go b/consul/config.go
index a11f73f454..e07500f5c7 100644
--- a/consul/config.go
+++ b/consul/config.go
@@ -274,6 +274,10 @@ type Config struct {
 	// This period is meant to be long enough for a leader election to take
 	// place, and a small jitter is applied to avoid a thundering herd.
 	RPCHoldTimeout time.Duration
+
+	// AutopilotServerCleanup controls whether to remove dead servers when a new
+	// server is added to the Raft peers
+	AutopilotServerCleanup bool
 }
 
 // CheckVersion is used to check if the ProtocolVersion is valid
@@ -346,6 +350,8 @@ func DefaultConfig() *Config {
 		RPCHoldTimeout: 7 * time.Second,
 
 		TLSMinVersion: "tls10",
+
+		AutopilotServerCleanup: true,
 	}
 
 	// Increase our reap interval to 3 days instead of 24h.
diff --git a/consul/leader.go b/consul/leader.go
index 5cfcec4632..fc0a32bf28 100644
--- a/consul/leader.go
+++ b/consul/leader.go
@@ -567,6 +567,20 @@ func (s *Server) joinConsulServer(m serf.Member, parts *agent.Server) error {
 		s.logger.Printf("[ERR] consul: failed to add raft peer: %v", err)
 		return err
 	}
+
+	// Look for dead servers to clean up
+	if s.config.AutopilotServerCleanup {
+		for _, member := range s.serfLAN.Members() {
+			valid, _ := agent.IsConsulServer(member)
+			if valid && member.Name != m.Name && member.Status == serf.StatusFailed {
+				if err := s.handleDeregisterMember("Removing failed server", member); err != nil {
+					return fmt.Errorf("[ERROR] consul: Couldn't deregister failed server (%s): %v", member.Name, err)
+				}
+				s.logger.Printf("[INFO] consul: Removed failed server: %v", member.Name)
+			}
+		}
+	}
+
 	return nil
 }
 
diff --git a/consul/leader_test.go b/consul/leader_test.go
index 329bf41a35..b85acee058 100644
--- a/consul/leader_test.go
+++ b/consul/leader_test.go
@@ -622,3 +622,72 @@ func TestLeader_ReapTombstones(t *testing.T) {
 		t.Fatalf("err: %v", err)
 	})
 }
+
+func TestLeader_DeadServerCleanup(t *testing.T) {
+	dir1, s1 := testServerDCExpect(t, "dc1", 3)
+	defer os.RemoveAll(dir1)
+	defer s1.Shutdown()
+
+	dir2, s2 := testServerDCExpect(t, "dc1", 3)
+	defer os.RemoveAll(dir2)
+	defer s2.Shutdown()
+
+	dir3, s3 := testServerDCExpect(t, "dc1", 3)
+	defer os.RemoveAll(dir3)
+	defer s3.Shutdown()
+
+	servers := []*Server{s1, s2, s3}
+
+	// Try to join
+	addr := fmt.Sprintf("127.0.0.1:%d",
+		s1.config.SerfLANConfig.MemberlistConfig.BindPort)
+	if _, err := s2.JoinLAN([]string{addr}); err != nil {
+		t.Fatalf("err: %v", err)
+	}
+	if _, err := s3.JoinLAN([]string{addr}); err != nil {
+		t.Fatalf("err: %v", err)
+	}
+
+	for _, s := range servers {
+		testutil.WaitForResult(func() (bool, error) {
+			peers, _ := s.numPeers()
+			return peers == 3, nil
+		}, func(err error) {
+			t.Fatalf("should have 3 peers")
+		})
+	}
+
+	// Kill a non-leader server (s2 or s3, so s4 can still join s1)
+	var nonLeader *Server
+	var removedIndex int
+	for i, s := range servers {
+		if !s.IsLeader() && i > 0 {
+			nonLeader = s
+			removedIndex = i
+			break
+		}
+	}
+	nonLeader.Shutdown()
+
+	time.Sleep(1 * time.Second)
+
+	// Bring up and join a new server
+	dir4, s4 := testServerDCExpect(t, "dc1", 3)
+	defer os.RemoveAll(dir4)
+	defer s4.Shutdown()
+
+	if _, err := s4.JoinLAN([]string{addr}); err != nil {
+		t.Fatalf("err: %v", err)
+	}
+
+	// Make sure the dead server is removed and we're back to 3 total peers
+	servers[removedIndex] = s4
+	for _, s := range servers {
+		testutil.WaitForResult(func() (bool, error) {
+			peers, _ := s.numPeers()
+			return peers == 3, nil
+		}, func(err error) {
+			t.Fatalf("should have 3 peers")
+		})
+	}
+}
diff --git a/consul/server.go b/consul/server.go
index 13d3088052..d58d0d4a4f 100644
--- a/consul/server.go
+++ b/consul/server.go
@@ -317,6 +317,7 @@ func (s *Server) setupSerf(conf *serf.Config, ch chan serf.Event, path string, w
 	conf.Tags["vsn"] = fmt.Sprintf("%d", s.config.ProtocolVersion)
 	conf.Tags["vsn_min"] = fmt.Sprintf("%d", ProtocolVersionMin)
 	conf.Tags["vsn_max"] = fmt.Sprintf("%d", ProtocolVersionMax)
+	conf.Tags["raft_vsn"] = fmt.Sprintf("%d", s.config.RaftConfig.ProtocolVersion)
 	conf.Tags["build"] = s.config.Build
 	conf.Tags["port"] = fmt.Sprintf("%d", addr.Port)
 	if s.config.Bootstrap {