diff --git a/pkg/controller/statefulset/stateful_set.go b/pkg/controller/statefulset/stateful_set.go
index 907f6bebbe8..068d11c7e79 100644
--- a/pkg/controller/statefulset/stateful_set.go
+++ b/pkg/controller/statefulset/stateful_set.go
@@ -29,6 +29,7 @@ import (
 	"k8s.io/apimachinery/pkg/labels"
 	utilruntime "k8s.io/apimachinery/pkg/util/runtime"
 	"k8s.io/apimachinery/pkg/util/wait"
+	utilfeature "k8s.io/apiserver/pkg/util/feature"
 	appsinformers "k8s.io/client-go/informers/apps/v1"
 	coreinformers "k8s.io/client-go/informers/core/v1"
 	clientset "k8s.io/client-go/kubernetes"
@@ -39,8 +40,10 @@ import (
 	"k8s.io/client-go/tools/cache"
 	"k8s.io/client-go/tools/record"
 	"k8s.io/client-go/util/workqueue"
+	podutil "k8s.io/kubernetes/pkg/api/v1/pod"
 	"k8s.io/kubernetes/pkg/controller"
 	"k8s.io/kubernetes/pkg/controller/history"
+	"k8s.io/kubernetes/pkg/features"
 
 	"k8s.io/klog/v2"
 )
@@ -85,7 +88,6 @@ func NewStatefulSetController(
 	eventBroadcaster.StartStructuredLogging(0)
 	eventBroadcaster.StartRecordingToSink(&v1core.EventSinkImpl{Interface: kubeClient.CoreV1().Events("")})
 	recorder := eventBroadcaster.NewRecorder(scheme.Scheme, v1.EventSource{Component: "statefulset-controller"})
-
 	ssc := &StatefulSetController{
 		kubeClient: kubeClient,
 		control: NewDefaultStatefulSetControl(
@@ -221,6 +223,15 @@ func (ssc *StatefulSetController) updatePod(old, cur interface{}) {
 		}
 		klog.V(4).Infof("Pod %s updated, objectMeta %+v -> %+v.", curPod.Name, oldPod.ObjectMeta, curPod.ObjectMeta)
 		ssc.enqueueStatefulSet(set)
+		// TODO: MinReadySeconds in the Pod will generate an Available condition to be added in
+		// the Pod status which in turn will trigger a requeue of the owning replica set thus
+		// having its status updated with the newly available replica.
+		if utilfeature.DefaultFeatureGate.Enabled(features.StatefulSetMinReadySeconds) && !podutil.IsPodReady(oldPod) && podutil.IsPodReady(curPod) && set.Spec.MinReadySeconds > 0 {
+			klog.V(2).Infof("StatefulSet %s will be enqueued after %ds for availability check", set.Name, set.Spec.MinReadySeconds)
+			// Add a second to avoid milliseconds skew in AddAfter.
+			// See https://github.com/kubernetes/kubernetes/issues/39785#issuecomment-279959133 for more info.
+			ssc.enqueueSSAfter(set, (time.Duration(set.Spec.MinReadySeconds)*time.Second)+time.Second)
+		}
 		return
 	}
 
@@ -380,6 +391,16 @@ func (ssc *StatefulSetController) enqueueStatefulSet(obj interface{}) {
 	ssc.queue.Add(key)
 }
 
+// enqueueStatefulSet enqueues the given statefulset in the work queue after given time
+func (ssc *StatefulSetController) enqueueSSAfter(ss *apps.StatefulSet, duration time.Duration) {
+	key, err := controller.KeyFunc(ss)
+	if err != nil {
+		utilruntime.HandleError(fmt.Errorf("couldn't get key for object %#v: %v", ss, err))
+		return
+	}
+	ssc.queue.AddAfter(key, duration)
+}
+
 // processNextWorkItem dequeues items, processes them, and marks them done. It enforces that the syncHandler is never
 // invoked concurrently with the same key.
 func (ssc *StatefulSetController) processNextWorkItem() bool {
@@ -446,10 +467,18 @@ func (ssc *StatefulSetController) sync(key string) error {
 // syncStatefulSet syncs a tuple of (statefulset, []*v1.Pod).
 func (ssc *StatefulSetController) syncStatefulSet(set *apps.StatefulSet, pods []*v1.Pod) error {
 	klog.V(4).Infof("Syncing StatefulSet %v/%v with %d pods", set.Namespace, set.Name, len(pods))
+	var status *apps.StatefulSetStatus
+	var err error
 	// TODO: investigate where we mutate the set during the update as it is not obvious.
-	if err := ssc.control.UpdateStatefulSet(set.DeepCopy(), pods); err != nil {
+	status, err = ssc.control.UpdateStatefulSet(set.DeepCopy(), pods)
+	if err != nil {
 		return err
 	}
 	klog.V(4).Infof("Successfully synced StatefulSet %s/%s successful", set.Namespace, set.Name)
+	// One more sync to handle the clock skew. This is also helping in requeuing right after status update
+	if utilfeature.DefaultFeatureGate.Enabled(features.StatefulSetMinReadySeconds) && set.Spec.MinReadySeconds > 0 && status != nil && status.AvailableReplicas != *set.Spec.Replicas {
+		ssc.enqueueSSAfter(set, time.Duration(set.Spec.MinReadySeconds)*time.Second)
+	}
+
 	return nil
 }
diff --git a/pkg/controller/statefulset/stateful_set_control.go b/pkg/controller/statefulset/stateful_set_control.go
index 8e71c53e455..d43b8e621c1 100644
--- a/pkg/controller/statefulset/stateful_set_control.go
+++ b/pkg/controller/statefulset/stateful_set_control.go
@@ -23,9 +23,11 @@ import (
 	v1 "k8s.io/api/core/v1"
 	metav1 "k8s.io/apimachinery/pkg/apis/meta/v1"
 	utilerrors "k8s.io/apimachinery/pkg/util/errors"
+	utilfeature "k8s.io/apiserver/pkg/util/feature"
 	"k8s.io/client-go/tools/record"
 	"k8s.io/klog/v2"
 	"k8s.io/kubernetes/pkg/controller/history"
+	"k8s.io/kubernetes/pkg/features"
 )
 
 // StatefulSetControl implements the control logic for updating StatefulSets and their children Pods. It is implemented
@@ -36,7 +38,7 @@ type StatefulSetControlInterface interface {
 	// If an implementation returns a non-nil error, the invocation will be retried using a rate-limited strategy.
 	// Implementors should sink any errors that they do not wish to trigger a retry, and they may feel free to
 	// exit exceptionally at any point provided they wish the update to be re-run at a later point in time.
-	UpdateStatefulSet(set *apps.StatefulSet, pods []*v1.Pod) error
+	UpdateStatefulSet(set *apps.StatefulSet, pods []*v1.Pod) (*apps.StatefulSetStatus, error)
 	// ListRevisions returns a array of the ControllerRevisions that represent the revisions of set. If the returned
 	// error is nil, the returns slice of ControllerRevisions is valid.
 	ListRevisions(set *apps.StatefulSet) ([]*apps.ControllerRevision, error)
@@ -71,60 +73,57 @@ type defaultStatefulSetControl struct {
 // strategy allows these constraints to be relaxed - pods will be created and deleted eagerly and
 // in no particular order. Clients using the burst strategy should be careful to ensure they
 // understand the consistency implications of having unpredictable numbers of pods available.
-func (ssc *defaultStatefulSetControl) UpdateStatefulSet(set *apps.StatefulSet, pods []*v1.Pod) error {
-
+func (ssc *defaultStatefulSetControl) UpdateStatefulSet(set *apps.StatefulSet, pods []*v1.Pod) (*apps.StatefulSetStatus, error) {
 	// list all revisions and sort them
 	revisions, err := ssc.ListRevisions(set)
 	if err != nil {
-		return err
+		return nil, err
 	}
 	history.SortControllerRevisions(revisions)
 
-	currentRevision, updateRevision, err := ssc.performUpdate(set, pods, revisions)
+	currentRevision, updateRevision, status, err := ssc.performUpdate(set, pods, revisions)
 	if err != nil {
-		return utilerrors.NewAggregate([]error{err, ssc.truncateHistory(set, pods, revisions, currentRevision, updateRevision)})
+		return nil, utilerrors.NewAggregate([]error{err, ssc.truncateHistory(set, pods, revisions, currentRevision, updateRevision)})
 	}
 
 	// maintain the set's revision history limit
-	return ssc.truncateHistory(set, pods, revisions, currentRevision, updateRevision)
+	return status, ssc.truncateHistory(set, pods, revisions, currentRevision, updateRevision)
 }
 
 func (ssc *defaultStatefulSetControl) performUpdate(
-	set *apps.StatefulSet, pods []*v1.Pod, revisions []*apps.ControllerRevision) (*apps.ControllerRevision, *apps.ControllerRevision, error) {
-
+	set *apps.StatefulSet, pods []*v1.Pod, revisions []*apps.ControllerRevision) (*apps.ControllerRevision, *apps.ControllerRevision, *apps.StatefulSetStatus, error) {
+	var currentStatus *apps.StatefulSetStatus
 	// get the current, and update revisions
 	currentRevision, updateRevision, collisionCount, err := ssc.getStatefulSetRevisions(set, revisions)
 	if err != nil {
-		return currentRevision, updateRevision, err
+		return currentRevision, updateRevision, currentStatus, err
 	}
 
 	// perform the main update function and get the status
-	status, err := ssc.updateStatefulSet(set, currentRevision, updateRevision, collisionCount, pods)
+	currentStatus, err = ssc.updateStatefulSet(set, currentRevision, updateRevision, collisionCount, pods)
 	if err != nil {
-		return currentRevision, updateRevision, err
+		return currentRevision, updateRevision, currentStatus, err
 	}
-
 	// update the set's status
-	err = ssc.updateStatefulSetStatus(set, status)
+	err = ssc.updateStatefulSetStatus(set, currentStatus)
 	if err != nil {
-		return currentRevision, updateRevision, err
+		return currentRevision, updateRevision, currentStatus, err
 	}
-
 	klog.V(4).Infof("StatefulSet %s/%s pod status replicas=%d ready=%d current=%d updated=%d",
 		set.Namespace,
 		set.Name,
-		status.Replicas,
-		status.ReadyReplicas,
-		status.CurrentReplicas,
-		status.UpdatedReplicas)
+		currentStatus.Replicas,
+		currentStatus.ReadyReplicas,
+		currentStatus.CurrentReplicas,
+		currentStatus.UpdatedReplicas)
 
 	klog.V(4).Infof("StatefulSet %s/%s revisions current=%s update=%s",
 		set.Namespace,
 		set.Name,
-		status.CurrentRevision,
-		status.UpdateRevision)
+		currentStatus.CurrentRevision,
+		currentStatus.UpdateRevision)
 
-	return currentRevision, updateRevision, nil
+	return currentRevision, updateRevision, currentStatus, nil
 }
 
 func (ssc *defaultStatefulSetControl) ListRevisions(set *apps.StatefulSet) ([]*apps.ControllerRevision, error) {
@@ -307,6 +306,15 @@ func (ssc *defaultStatefulSetControl) updateStatefulSet(
 		// count the number of running and ready replicas
 		if isRunningAndReady(pods[i]) {
 			status.ReadyReplicas++
+			// count the number of running and available replicas
+			if utilfeature.DefaultFeatureGate.Enabled(features.StatefulSetMinReadySeconds) {
+				if isRunningAndAvailable(pods[i], set.Spec.MinReadySeconds) {
+					status.AvailableReplicas++
+				}
+			} else {
+				// If the featuregate is not enabled, all the ready replicas should be considered as available replicas
+				status.AvailableReplicas = status.ReadyReplicas
+			}
 		}
 
 		// count the number of current and update replicas
@@ -447,6 +455,19 @@ func (ssc *defaultStatefulSetControl) updateStatefulSet(
 				replicas[i].Name)
 			return &status, nil
 		}
+		// If we have a Pod that has been created but is not available we can not make progress.
+		// We must ensure that all for each Pod, when we create it, all of its predecessors, with respect to its
+		// ordinal, are Available.
+		// TODO: Since available is superset of Ready, once we have this featuregate enabled by default, we can remove the
+		// isRunningAndReady block as only Available pods should be brought down.
+		if utilfeature.DefaultFeatureGate.Enabled(features.StatefulSetMinReadySeconds) && !isRunningAndAvailable(replicas[i], set.Spec.MinReadySeconds) && monotonic {
+			klog.V(4).Infof(
+				"StatefulSet %s/%s is waiting for Pod %s to be Available",
+				set.Namespace,
+				set.Name,
+				replicas[i].Name)
+			return &status, nil
+		}
 		// Enforce the StatefulSet invariants
 		if identityMatches(set, replicas[i]) && storageMatches(set, replicas[i]) {
 			continue
@@ -458,7 +479,7 @@ func (ssc *defaultStatefulSetControl) updateStatefulSet(
 		}
 	}
 
-	// At this point, all of the current Replicas are Running and Ready, we can consider termination.
+	// At this point, all of the current Replicas are Running, Ready and Available, we can consider termination.
 	// We will wait for all predecessors to be Running and Ready prior to attempting a deletion.
 	// We will terminate Pods in a monotonically decreasing order over [len(pods),set.Spec.Replicas).
 	// Note that we do not resurrect Pods in this interval. Also note that scaling will take precedence over
@@ -486,6 +507,17 @@ func (ssc *defaultStatefulSetControl) updateStatefulSet(
 				firstUnhealthyPod.Name)
 			return &status, nil
 		}
+		// if we are in monotonic mode and the condemned target is not the first unhealthy Pod, block.
+		// TODO: Since available is superset of Ready, once we have this featuregate enabled by default, we can remove the
+		// isRunningAndReady block as only Available pods should be brought down.
+		if utilfeature.DefaultFeatureGate.Enabled(features.StatefulSetMinReadySeconds) && !isRunningAndAvailable(condemned[target], set.Spec.MinReadySeconds) && monotonic && condemned[target] != firstUnhealthyPod {
+			klog.V(4).Infof(
+				"StatefulSet %s/%s is waiting for Pod %s to be Available prior to scale down",
+				set.Namespace,
+				set.Name,
+				firstUnhealthyPod.Name)
+			return &status, nil
+		}
 		klog.V(2).Infof("StatefulSet %s/%s terminating Pod %s for scale down",
 			set.Namespace,
 			set.Name,
@@ -549,7 +581,6 @@ func (ssc *defaultStatefulSetControl) updateStatefulSet(
 func (ssc *defaultStatefulSetControl) updateStatefulSetStatus(
 	set *apps.StatefulSet,
 	status *apps.StatefulSetStatus) error {
-
 	// complete any in progress rolling update if necessary
 	completeRollingUpdate(set, status)
 
diff --git a/pkg/controller/statefulset/stateful_set_control_test.go b/pkg/controller/statefulset/stateful_set_control_test.go
index adb6a82b1a6..6911e799fb2 100644
--- a/pkg/controller/statefulset/stateful_set_control_test.go
+++ b/pkg/controller/statefulset/stateful_set_control_test.go
@@ -34,6 +34,7 @@ import (
 	metav1 "k8s.io/apimachinery/pkg/apis/meta/v1"
 	"k8s.io/apimachinery/pkg/labels"
 	utilerrors "k8s.io/apimachinery/pkg/util/errors"
+	utilfeature "k8s.io/apiserver/pkg/util/feature"
 	"k8s.io/client-go/informers"
 	appsinformers "k8s.io/client-go/informers/apps/v1"
 	coreinformers "k8s.io/client-go/informers/core/v1"
@@ -43,9 +44,11 @@ import (
 	corelisters "k8s.io/client-go/listers/core/v1"
 	"k8s.io/client-go/tools/cache"
 	"k8s.io/client-go/tools/record"
+	featuregatetesting "k8s.io/component-base/featuregate/testing"
 	podutil "k8s.io/kubernetes/pkg/api/v1/pod"
 	"k8s.io/kubernetes/pkg/controller"
 	"k8s.io/kubernetes/pkg/controller/history"
+	"k8s.io/kubernetes/pkg/features"
 )
 
 type invariantFunc func(set *apps.StatefulSet, spc *fakeStatefulPodControl) error
@@ -73,6 +76,11 @@ func burst(set *apps.StatefulSet) *apps.StatefulSet {
 	return set
 }
 
+func setMinReadySeconds(set *apps.StatefulSet, minReadySeconds int32) *apps.StatefulSet {
+	set.Spec.MinReadySeconds = minReadySeconds
+	return set
+}
+
 func TestStatefulSetControl(t *testing.T) {
 	simpleSetFn := func() *apps.StatefulSet { return newStatefulSet(3) }
 	largeSetFn := func() *apps.StatefulSet { return newStatefulSet(5) }
@@ -221,7 +229,7 @@ func ReplacesPods(t *testing.T, set *apps.StatefulSet, invariants invariantFunc)
 		if err != nil {
 			t.Error(err)
 		}
-		if err = ssc.UpdateStatefulSet(set, pods); err != nil {
+		if _, err = ssc.UpdateStatefulSet(set, pods); err != nil {
 			t.Errorf("Failed to update StatefulSet : %s", err)
 		}
 		set, err = spc.setsLister.StatefulSets(set.Namespace).Get(set.Name)
@@ -231,7 +239,7 @@ func ReplacesPods(t *testing.T, set *apps.StatefulSet, invariants invariantFunc)
 		if pods, err = spc.setPodRunning(set, i); err != nil {
 			t.Error(err)
 		}
-		if err = ssc.UpdateStatefulSet(set, pods); err != nil {
+		if _, err = ssc.UpdateStatefulSet(set, pods); err != nil {
 			t.Errorf("Failed to update StatefulSet : %s", err)
 		}
 		set, err = spc.setsLister.StatefulSets(set.Namespace).Get(set.Name)
@@ -246,7 +254,7 @@ func ReplacesPods(t *testing.T, set *apps.StatefulSet, invariants invariantFunc)
 	if err != nil {
 		t.Error(err)
 	}
-	if err := ssc.UpdateStatefulSet(set, pods); err != nil {
+	if _, err := ssc.UpdateStatefulSet(set, pods); err != nil {
 		t.Errorf("Failed to update StatefulSet : %s", err)
 	}
 	set, err = spc.setsLister.StatefulSets(set.Namespace).Get(set.Name)
@@ -270,7 +278,7 @@ func RecreatesFailedPod(t *testing.T, set *apps.StatefulSet, invariants invarian
 	if err != nil {
 		t.Error(err)
 	}
-	if err := ssc.UpdateStatefulSet(set, pods); err != nil {
+	if _, err := ssc.UpdateStatefulSet(set, pods); err != nil {
 		t.Errorf("Error updating StatefulSet %s", err)
 	}
 	if err := invariants(set, spc); err != nil {
@@ -282,7 +290,7 @@ func RecreatesFailedPod(t *testing.T, set *apps.StatefulSet, invariants invarian
 	}
 	pods[0].Status.Phase = v1.PodFailed
 	spc.podsIndexer.Update(pods[0])
-	if err := ssc.UpdateStatefulSet(set, pods); err != nil {
+	if _, err := ssc.UpdateStatefulSet(set, pods); err != nil {
 		t.Errorf("Error updating StatefulSet %s", err)
 	}
 	if err := invariants(set, spc); err != nil {
@@ -363,7 +371,7 @@ func UpdatePodFailure(t *testing.T, set *apps.StatefulSet, invariants invariantF
 	spc.podsIndexer.Update(pods[0])
 
 	// now it should fail
-	if err := ssc.UpdateStatefulSet(set, pods); err != nil && isOrHasInternalError(err) {
+	if _, err := ssc.UpdateStatefulSet(set, pods); err != nil && isOrHasInternalError(err) {
 		t.Errorf("StatefulSetControl did not return InternalError found %s", err)
 	}
 }
@@ -409,7 +417,7 @@ func PodRecreateDeleteFailure(t *testing.T, set *apps.StatefulSet, invariants in
 	if err != nil {
 		t.Error(err)
 	}
-	if err := ssc.UpdateStatefulSet(set, pods); err != nil {
+	if _, err := ssc.UpdateStatefulSet(set, pods); err != nil {
 		t.Errorf("Error updating StatefulSet %s", err)
 	}
 	if err := invariants(set, spc); err != nil {
@@ -422,13 +430,13 @@ func PodRecreateDeleteFailure(t *testing.T, set *apps.StatefulSet, invariants in
 	pods[0].Status.Phase = v1.PodFailed
 	spc.podsIndexer.Update(pods[0])
 	spc.SetDeleteStatefulPodError(apierrors.NewInternalError(errors.New("API server failed")), 0)
-	if err := ssc.UpdateStatefulSet(set, pods); err != nil && isOrHasInternalError(err) {
+	if _, err := ssc.UpdateStatefulSet(set, pods); err != nil && isOrHasInternalError(err) {
 		t.Errorf("StatefulSet failed to %s", err)
 	}
 	if err := invariants(set, spc); err != nil {
 		t.Error(err)
 	}
-	if err := ssc.UpdateStatefulSet(set, pods); err != nil {
+	if _, err := ssc.UpdateStatefulSet(set, pods); err != nil {
 		t.Errorf("Error updating StatefulSet %s", err)
 	}
 	if err := invariants(set, spc); err != nil {
@@ -1274,7 +1282,7 @@ func TestStatefulSetControlLimitsHistory(t *testing.T) {
 			if err != nil {
 				t.Fatalf("%s: %s", test.name, err)
 			}
-			err = ssc.UpdateStatefulSet(set, pods)
+			_, err = ssc.UpdateStatefulSet(set, pods)
 			if err != nil {
 				t.Fatalf("%s: %s", test.name, err)
 			}
@@ -1565,6 +1573,72 @@ func TestStatefulSetControlRollback(t *testing.T) {
 	}
 }
 
+func TestStatefulSetAvailability(t *testing.T) {
+	tests := []struct {
+		name                              string
+		inputSTS                          *apps.StatefulSet
+		expectedActiveReplicas            int32
+		readyDuration                     time.Duration
+		minReadySecondsFeaturegateEnabled bool
+	}{
+		{
+			name: "replicas not running for required time, still will be available," +
+				" when minReadySeconds is disabled",
+			inputSTS:                          setMinReadySeconds(newStatefulSet(1), int32(3600)),
+			readyDuration:                     0 * time.Minute,
+			expectedActiveReplicas:            int32(1),
+			minReadySecondsFeaturegateEnabled: false,
+		},
+		{
+			name:                              "replicas running for required time, when minReadySeconds is enabled",
+			inputSTS:                          setMinReadySeconds(newStatefulSet(1), int32(3600)),
+			readyDuration:                     -120 * time.Minute,
+			expectedActiveReplicas:            int32(1),
+			minReadySecondsFeaturegateEnabled: true,
+		},
+		{
+			name:                              "replicas not running for required time, when minReadySeconds is enabled",
+			inputSTS:                          setMinReadySeconds(newStatefulSet(1), int32(3600)),
+			readyDuration:                     -30 * time.Minute,
+			expectedActiveReplicas:            int32(0),
+			minReadySecondsFeaturegateEnabled: true,
+		},
+	}
+	for _, test := range tests {
+		defer featuregatetesting.SetFeatureGateDuringTest(t, utilfeature.DefaultFeatureGate, features.StatefulSetMinReadySeconds, test.minReadySecondsFeaturegateEnabled)()
+		set := test.inputSTS
+		client := fake.NewSimpleClientset(set)
+		spc, _, ssc, stop := setupController(client)
+		defer close(stop)
+		if err := scaleUpStatefulSetControl(set, ssc, spc, assertBurstInvariants); err != nil {
+			t.Fatalf("%s: %s", test.name, err)
+		}
+		selector, err := metav1.LabelSelectorAsSelector(set.Spec.Selector)
+		if err != nil {
+			t.Fatalf("%s: %s", test.name, err)
+		}
+		_, err = spc.podsLister.Pods(set.Namespace).List(selector)
+		if err != nil {
+			t.Fatalf("%s: %s", test.name, err)
+		}
+		set, err = spc.setsLister.StatefulSets(set.Namespace).Get(set.Name)
+		if err != nil {
+			t.Fatalf("%s: %s", test.name, err)
+		}
+		pods, err := spc.setPodAvailable(set, 0, time.Now().Add(test.readyDuration))
+		if err != nil {
+			t.Fatalf("%s: %s", test.name, err)
+		}
+		status, err := ssc.UpdateStatefulSet(set, pods)
+		if err != nil {
+			t.Fatalf("%s: %s", test.name, err)
+		}
+		if status.AvailableReplicas != test.expectedActiveReplicas {
+			t.Fatalf("expected %d active replicas got %d", test.expectedActiveReplicas, status.AvailableReplicas)
+		}
+	}
+}
+
 type requestTracker struct {
 	requests int
 	err      error
@@ -1688,6 +1762,39 @@ func (spc *fakeStatefulPodControl) setPodReady(set *apps.StatefulSet, ordinal in
 	return spc.podsLister.Pods(set.Namespace).List(selector)
 }
 
+func (spc *fakeStatefulPodControl) setPodAvailable(set *apps.StatefulSet, ordinal int, lastTransitionTime time.Time) ([]*v1.Pod, error) {
+	selector, err := metav1.LabelSelectorAsSelector(set.Spec.Selector)
+	if err != nil {
+		return nil, err
+	}
+	pods, err := spc.podsLister.Pods(set.Namespace).List(selector)
+	if err != nil {
+		return nil, err
+	}
+	if 0 > ordinal || ordinal >= len(pods) {
+		return nil, fmt.Errorf("ordinal %d out of range [0,%d)", ordinal, len(pods))
+	}
+	sort.Sort(ascendingOrdinal(pods))
+	pod := pods[ordinal].DeepCopy()
+	condition := v1.PodCondition{Type: v1.PodReady, Status: v1.ConditionTrue, LastTransitionTime: metav1.Time{Time: lastTransitionTime}}
+	_, existingCondition := podutil.GetPodCondition(&pod.Status, condition.Type)
+	if existingCondition != nil {
+		existingCondition.Status = v1.ConditionTrue
+		existingCondition.LastTransitionTime = metav1.Time{Time: lastTransitionTime}
+	} else {
+		existingCondition = &v1.PodCondition{
+			Type:               v1.PodReady,
+			Status:             v1.ConditionTrue,
+			LastTransitionTime: metav1.Time{Time: lastTransitionTime},
+		}
+		pod.Status.Conditions = append(pod.Status.Conditions, *existingCondition)
+	}
+	podutil.UpdatePodCondition(&pod.Status, &condition)
+	fakeResourceVersion(pod)
+	spc.podsIndexer.Update(pod)
+	return spc.podsLister.Pods(set.Namespace).List(selector)
+}
+
 func (spc *fakeStatefulPodControl) addTerminatingPod(set *apps.StatefulSet, ordinal int) ([]*v1.Pod, error) {
 	pod := newStatefulSetPod(set, ordinal)
 	pod.Status.Phase = v1.PodRunning
@@ -1981,9 +2088,9 @@ func scaleUpStatefulSetControl(set *apps.StatefulSet,
 				continue
 			}
 		}
-
 		// run the controller once and check invariants
-		if err = ssc.UpdateStatefulSet(set, pods); err != nil {
+		_, err = ssc.UpdateStatefulSet(set, pods)
+		if err != nil {
 			return err
 		}
 		set, err = spc.setsLister.StatefulSets(set.Namespace).Get(set.Name)
@@ -1993,6 +2100,7 @@ func scaleUpStatefulSetControl(set *apps.StatefulSet,
 		if err := invariants(set, spc); err != nil {
 			return err
 		}
+		//fmt.Printf("Ravig pod conditions %v %v", set.Status.ReadyReplicas, *set.Spec.Replicas)
 	}
 	return invariants(set, spc)
 }
@@ -2009,7 +2117,7 @@ func scaleDownStatefulSetControl(set *apps.StatefulSet, ssc StatefulSetControlIn
 		}
 		sort.Sort(ascendingOrdinal(pods))
 		if ordinal := len(pods) - 1; ordinal >= 0 {
-			if err := ssc.UpdateStatefulSet(set, pods); err != nil {
+			if _, err := ssc.UpdateStatefulSet(set, pods); err != nil {
 				return err
 			}
 			set, err = spc.setsLister.StatefulSets(set.Namespace).Get(set.Name)
@@ -2019,7 +2127,7 @@ func scaleDownStatefulSetControl(set *apps.StatefulSet, ssc StatefulSetControlIn
 			if pods, err = spc.addTerminatingPod(set, ordinal); err != nil {
 				return err
 			}
-			if err = ssc.UpdateStatefulSet(set, pods); err != nil {
+			if _, err = ssc.UpdateStatefulSet(set, pods); err != nil {
 				return err
 			}
 			set, err = spc.setsLister.StatefulSets(set.Namespace).Get(set.Name)
@@ -2036,7 +2144,7 @@ func scaleDownStatefulSetControl(set *apps.StatefulSet, ssc StatefulSetControlIn
 				spc.podsIndexer.Delete(pods[len(pods)-1])
 			}
 		}
-		if err := ssc.UpdateStatefulSet(set, pods); err != nil {
+		if _, err := ssc.UpdateStatefulSet(set, pods); err != nil {
 			return err
 		}
 		set, err = spc.setsLister.StatefulSets(set.Namespace).Get(set.Name)
@@ -2099,7 +2207,7 @@ func updateStatefulSetControl(set *apps.StatefulSet,
 	if err != nil {
 		return err
 	}
-	if err = ssc.UpdateStatefulSet(set, pods); err != nil {
+	if _, err = ssc.UpdateStatefulSet(set, pods); err != nil {
 		return err
 	}
 
@@ -2147,7 +2255,7 @@ func updateStatefulSetControl(set *apps.StatefulSet,
 			}
 		}
 
-		if err = ssc.UpdateStatefulSet(set, pods); err != nil {
+		if _, err = ssc.UpdateStatefulSet(set, pods); err != nil {
 			return err
 		}
 		set, err = spc.setsLister.StatefulSets(set.Namespace).Get(set.Name)
diff --git a/pkg/controller/statefulset/stateful_set_status_updater_test.go b/pkg/controller/statefulset/stateful_set_status_updater_test.go
index 74d67812da2..4eb9f63a831 100644
--- a/pkg/controller/statefulset/stateful_set_status_updater_test.go
+++ b/pkg/controller/statefulset/stateful_set_status_updater_test.go
@@ -20,15 +20,16 @@ import (
 	"errors"
 	"testing"
 
+	apps "k8s.io/api/apps/v1"
 	apierrors "k8s.io/apimachinery/pkg/api/errors"
 	"k8s.io/apimachinery/pkg/runtime"
-
-	core "k8s.io/client-go/testing"
-	"k8s.io/client-go/tools/cache"
-
-	apps "k8s.io/api/apps/v1"
+	utilfeature "k8s.io/apiserver/pkg/util/feature"
 	"k8s.io/client-go/kubernetes/fake"
 	appslisters "k8s.io/client-go/listers/apps/v1"
+	core "k8s.io/client-go/testing"
+	"k8s.io/client-go/tools/cache"
+	featuregatetesting "k8s.io/component-base/featuregate/testing"
+	"k8s.io/kubernetes/pkg/features"
 )
 
 func TestStatefulSetUpdaterUpdatesSetStatus(t *testing.T) {
@@ -124,3 +125,21 @@ func TestStatefulSetStatusUpdaterUpdateReplicasConflictFailure(t *testing.T) {
 		t.Error("UpdateStatefulSetStatus failed to return an error on get failure")
 	}
 }
+
+func TestStatefulSetStatusUpdaterGetAvailableReplicas(t *testing.T) {
+	defer featuregatetesting.SetFeatureGateDuringTest(t, utilfeature.DefaultFeatureGate, features.StatefulSetMinReadySeconds, true)()
+	set := newStatefulSet(3)
+	status := apps.StatefulSetStatus{ObservedGeneration: 1, Replicas: 2, AvailableReplicas: 3}
+	fakeClient := &fake.Clientset{}
+	updater := NewRealStatefulSetStatusUpdater(fakeClient, nil)
+	fakeClient.AddReactor("update", "statefulsets", func(action core.Action) (bool, runtime.Object, error) {
+		update := action.(core.UpdateAction)
+		return true, update.GetObject(), nil
+	})
+	if err := updater.UpdateStatefulSetStatus(set, &status); err != nil {
+		t.Errorf("Error returned on successful status update: %s", err)
+	}
+	if set.Status.AvailableReplicas != 3 {
+		t.Errorf("UpdateStatefulSetStatus mutated the sets replicas %d", set.Status.AvailableReplicas)
+	}
+}
diff --git a/pkg/controller/statefulset/stateful_set_utils.go b/pkg/controller/statefulset/stateful_set_utils.go
index 12600fd6323..39f061de6cb 100644
--- a/pkg/controller/statefulset/stateful_set_utils.go
+++ b/pkg/controller/statefulset/stateful_set_utils.go
@@ -204,6 +204,10 @@ func isRunningAndReady(pod *v1.Pod) bool {
 	return pod.Status.Phase == v1.PodRunning && podutil.IsPodReady(pod)
 }
 
+func isRunningAndAvailable(pod *v1.Pod, minReadySeconds int32) bool {
+	return podutil.IsPodAvailable(pod, minReadySeconds, metav1.Now())
+}
+
 // isCreated returns true if pod has been created and is maintained by the API server
 func isCreated(pod *v1.Pod) bool {
 	return pod.Status.Phase != ""
@@ -366,6 +370,7 @@ func inconsistentStatus(set *apps.StatefulSet, status *apps.StatefulSetStatus) b
 		status.ReadyReplicas != set.Status.ReadyReplicas ||
 		status.UpdatedReplicas != set.Status.UpdatedReplicas ||
 		status.CurrentRevision != set.Status.CurrentRevision ||
+		status.AvailableReplicas != set.Status.AvailableReplicas ||
 		status.UpdateRevision != set.Status.UpdateRevision
 }
 
diff --git a/test/integration/statefulset/statefulset_test.go b/test/integration/statefulset/statefulset_test.go
index ce72e73048b..678e07eae91 100644
--- a/test/integration/statefulset/statefulset_test.go
+++ b/test/integration/statefulset/statefulset_test.go
@@ -20,6 +20,7 @@ import (
 	"context"
 	"fmt"
 	"testing"
+	"time"
 
 	appsv1 "k8s.io/api/apps/v1"
 	v1 "k8s.io/api/core/v1"
@@ -27,11 +28,21 @@ import (
 	"k8s.io/apimachinery/pkg/apis/meta/v1/unstructured"
 	"k8s.io/apimachinery/pkg/util/json"
 	"k8s.io/apimachinery/pkg/util/wait"
+	utilfeature "k8s.io/apiserver/pkg/util/feature"
 	"k8s.io/client-go/dynamic"
+	clientset "k8s.io/client-go/kubernetes"
+	featuregatetesting "k8s.io/component-base/featuregate/testing"
 	apiservertesting "k8s.io/kubernetes/cmd/kube-apiserver/app/testing"
+	podutil "k8s.io/kubernetes/pkg/api/v1/pod"
+	"k8s.io/kubernetes/pkg/features"
 	"k8s.io/kubernetes/test/integration/framework"
 )
 
+const (
+	interval = 100 * time.Millisecond
+	timeout  = 60 * time.Second
+)
+
 // TestVolumeTemplateNoopUpdate ensures embedded StatefulSet objects with embedded PersistentVolumes can be updated
 func TestVolumeTemplateNoopUpdate(t *testing.T) {
 	// Start the server with default storage setup
@@ -226,3 +237,115 @@ func TestDeletingAndFailedPods(t *testing.T) {
 		t.Fatalf("failed to verify deleting pod %s has been replaced with a new non-deleting pod: %v", deletingPod.Name, err)
 	}
 }
+
+func TestStatefulSetAvailable(t *testing.T) {
+	tests := []struct {
+		name           string
+		totalReplicas  int32
+		readyReplicas  int32
+		activeReplicas int32
+		enabled        bool
+	}{
+		{
+			name:           "When feature gate is enabled, only certain replicas would become active",
+			totalReplicas:  4,
+			readyReplicas:  3,
+			activeReplicas: 2,
+			enabled:        true,
+		},
+		{
+			name:           "When feature gate is disabled, all the ready replicas would become active",
+			totalReplicas:  4,
+			readyReplicas:  3,
+			activeReplicas: 3,
+			enabled:        false,
+		},
+	}
+	for _, test := range tests {
+		defer featuregatetesting.SetFeatureGateDuringTest(t, utilfeature.DefaultFeatureGate, features.StatefulSetMinReadySeconds, test.enabled)()
+		s, closeFn, rm, informers, c := scSetup(t)
+		defer closeFn()
+		ns := framework.CreateTestingNamespace("test-available-pods", s, t)
+		defer framework.DeleteTestingNamespace(ns, s, t)
+		stopCh := runControllerAndInformers(rm, informers)
+		defer close(stopCh)
+
+		labelMap := labelMap()
+		sts := newSTS("sts", ns.Name, 4)
+		sts.Spec.MinReadySeconds = int32(3600)
+		stss, _ := createSTSsPods(t, c, []*appsv1.StatefulSet{sts}, []*v1.Pod{})
+		sts = stss[0]
+		waitSTSStable(t, c, sts)
+
+		// Verify STS creates 4 pods
+		podClient := c.CoreV1().Pods(ns.Name)
+		pods := getPods(t, podClient, labelMap)
+		if len(pods.Items) != 4 {
+			t.Fatalf("len(pods) = %d, want 4", len(pods.Items))
+		}
+
+		// Separate 3 pods into their own list
+		firstPodList := &v1.PodList{Items: pods.Items[:1]}
+		secondPodList := &v1.PodList{Items: pods.Items[1:2]}
+		thirdPodList := &v1.PodList{Items: pods.Items[2:]}
+		// First pod: Running, but not Ready
+		// by setting the Ready condition to false with LastTransitionTime to be now
+		setPodsReadyCondition(t, c, firstPodList, v1.ConditionFalse, time.Now())
+		// Second pod: Running and Ready, but not Available
+		// by setting LastTransitionTime to now
+		setPodsReadyCondition(t, c, secondPodList, v1.ConditionTrue, time.Now())
+		// Third pod: Running, Ready, and Available
+		// by setting LastTransitionTime to more than 3600 seconds ago
+		setPodsReadyCondition(t, c, thirdPodList, v1.ConditionTrue, time.Now().Add(-120*time.Minute))
+
+		stsClient := c.AppsV1().StatefulSets(ns.Name)
+		if err := wait.PollImmediate(interval, timeout, func() (bool, error) {
+			newSts, err := stsClient.Get(context.TODO(), sts.Name, metav1.GetOptions{})
+			if err != nil {
+				return false, err
+			}
+			// Verify 4 pods exist, 3 pods are Ready, and 2 pods are Available
+			return newSts.Status.Replicas == test.totalReplicas && newSts.Status.ReadyReplicas == test.readyReplicas && newSts.Status.AvailableReplicas == test.activeReplicas, nil
+		}); err != nil {
+			t.Fatalf("Failed to verify number of Replicas, ReadyReplicas and AvailableReplicas of rs %s to be as expected: %v", sts.Name, err)
+		}
+	}
+}
+
+func setPodsReadyCondition(t *testing.T, clientSet clientset.Interface, pods *v1.PodList, conditionStatus v1.ConditionStatus, lastTransitionTime time.Time) {
+	replicas := int32(len(pods.Items))
+	var readyPods int32
+	err := wait.PollImmediate(interval, timeout, func() (bool, error) {
+		readyPods = 0
+		for i := range pods.Items {
+			pod := &pods.Items[i]
+			if podutil.IsPodReady(pod) {
+				readyPods++
+				continue
+			}
+			pod.Status.Phase = v1.PodRunning
+			_, condition := podutil.GetPodCondition(&pod.Status, v1.PodReady)
+			if condition != nil {
+				condition.Status = conditionStatus
+				condition.LastTransitionTime = metav1.Time{Time: lastTransitionTime}
+			} else {
+				condition = &v1.PodCondition{
+					Type:               v1.PodReady,
+					Status:             conditionStatus,
+					LastTransitionTime: metav1.Time{Time: lastTransitionTime},
+				}
+				pod.Status.Conditions = append(pod.Status.Conditions, *condition)
+			}
+			_, err := clientSet.CoreV1().Pods(pod.Namespace).UpdateStatus(context.TODO(), pod, metav1.UpdateOptions{})
+			if err != nil {
+				// When status fails to be updated, we continue to next pod
+				continue
+			}
+			readyPods++
+		}
+		return readyPods >= replicas, nil
+	})
+	if err != nil {
+		t.Fatalf("failed to mark all StatefulSet pods to ready: %v", err)
+	}
+}