diff --git a/cmd/kubeadm/app/constants/constants.go b/cmd/kubeadm/app/constants/constants.go
index 98047f529de..2e519e82839 100644
--- a/cmd/kubeadm/app/constants/constants.go
+++ b/cmd/kubeadm/app/constants/constants.go
@@ -319,7 +319,7 @@ const (
 	KubeletHealthzPort = 10248
 
 	// MinExternalEtcdVersion indicates minimum external etcd version which kubeadm supports
-	MinExternalEtcdVersion = "3.4.13-4"
+	MinExternalEtcdVersion = "3.5.11-0"
 
 	// DefaultEtcdVersion indicates the default etcd version that kubeadm uses
 	DefaultEtcdVersion = "3.5.13-0"
@@ -481,13 +481,6 @@ var (
 
 	// SupportedEtcdVersion lists officially supported etcd versions with corresponding Kubernetes releases
 	SupportedEtcdVersion = map[uint8]string{
-		22: "3.5.13-0",
-		23: "3.5.13-0",
-		24: "3.5.13-0",
-		25: "3.5.13-0",
-		26: "3.5.13-0",
-		27: "3.5.13-0",
-		28: "3.5.13-0",
 		29: "3.5.13-0",
 		30: "3.5.13-0",
 		31: "3.5.13-0",
diff --git a/cmd/kubeadm/app/constants/constants_test.go b/cmd/kubeadm/app/constants/constants_test.go
index 505a7572e67..819fd3f804d 100644
--- a/cmd/kubeadm/app/constants/constants_test.go
+++ b/cmd/kubeadm/app/constants/constants_test.go
@@ -124,11 +124,15 @@ func TestGetStaticPodFilepath(t *testing.T) {
 	}
 }
 
+func TestEtcdSupportedVersionLength(t *testing.T) {
+	const max = 3
+	if len(SupportedEtcdVersion) > max {
+		t.Fatalf("SupportedEtcdVersion must not include more than %d versions", max)
+	}
+}
+
 func TestEtcdSupportedVersion(t *testing.T) {
 	var supportedEtcdVersion = map[uint8]string{
-		13: "3.2.24",
-		14: "3.3.10",
-		15: "3.3.10",
 		16: "3.3.17-0",
 		17: "3.4.3-0",
 		18: "3.4.3-0",
@@ -147,7 +151,7 @@ func TestEtcdSupportedVersion(t *testing.T) {
 		},
 		{
 			kubernetesVersion: "1.10.1",
-			expectedVersion:   version.MustParseSemantic("3.2.24"),
+			expectedVersion:   version.MustParseSemantic("3.3.17-0"),
 			expectedWarning:   true,
 			expectedError:     false,
 		},
diff --git a/cmd/kubeadm/app/phases/etcd/local.go b/cmd/kubeadm/app/phases/etcd/local.go
index 10e60807af2..93d10e6f1c8 100644
--- a/cmd/kubeadm/app/phases/etcd/local.go
+++ b/cmd/kubeadm/app/phases/etcd/local.go
@@ -224,9 +224,12 @@ func GetEtcdPodSpec(cfg *kubeadmapi.ClusterConfiguration, endpoint *kubeadmapi.A
 					v1.ResourceMemory: resource.MustParse("100Mi"),
 				},
 			},
-			LivenessProbe: staticpodutil.LivenessProbe(probeHostname, "/health?exclude=NOSPACE&serializable=true", probePort, probeScheme),
-			StartupProbe:  staticpodutil.StartupProbe(probeHostname, "/health?serializable=false", probePort, probeScheme, componentHealthCheckTimeout),
-			Env:           kubeadmutil.MergeKubeadmEnvVars(cfg.Etcd.Local.ExtraEnvs),
+			// The etcd probe endpoints are explained here:
+			// https://github.com/kubernetes/kubeadm/issues/3039
+			LivenessProbe:  staticpodutil.LivenessProbe(probeHostname, "/livez", probePort, probeScheme),
+			ReadinessProbe: staticpodutil.ReadinessProbe(probeHostname, "/readyz", probePort, probeScheme),
+			StartupProbe:   staticpodutil.StartupProbe(probeHostname, "/readyz", probePort, probeScheme, componentHealthCheckTimeout),
+			Env:            kubeadmutil.MergeKubeadmEnvVars(cfg.Etcd.Local.ExtraEnvs),
 		},
 		etcdMounts,
 		// etcd will listen on the advertise address of the API server, in a different port (2379)
diff --git a/cmd/kubeadm/app/phases/etcd/local_test.go b/cmd/kubeadm/app/phases/etcd/local_test.go
index e04c8655eb5..50cd5a96c6c 100644
--- a/cmd/kubeadm/app/phases/etcd/local_test.go
+++ b/cmd/kubeadm/app/phases/etcd/local_test.go
@@ -129,13 +129,22 @@ spec:
       failureThreshold: 8
       httpGet:
         host: 127.0.0.1
-        path: /health?exclude=NOSPACE&serializable=true
+        path: /livez
         port: 2381
         scheme: HTTP
       initialDelaySeconds: 10
       periodSeconds: 10
       timeoutSeconds: 15
     name: etcd
+    readinessProbe:
+      failureThreshold: 3
+      httpGet:
+        host: 127.0.0.1
+        path: /readyz
+        port: 2381
+        scheme: HTTP
+      periodSeconds: 1
+      timeoutSeconds: 15
     resources:
       requests:
         cpu: 100m
@@ -144,7 +153,7 @@ spec:
       failureThreshold: 24
       httpGet:
         host: 127.0.0.1
-        path: /health?serializable=false
+        path: /readyz
         port: 2381
         scheme: HTTP
       initialDelaySeconds: 10