diff --git a/cmd/kubeadm/app/phases/etcd/local.go b/cmd/kubeadm/app/phases/etcd/local.go
index 144cda6cdaa..dd62f78e9a3 100644
--- a/cmd/kubeadm/app/phases/etcd/local.go
+++ b/cmd/kubeadm/app/phases/etcd/local.go
@@ -144,42 +144,19 @@ func CreateStackedEtcdStaticPodManifestFile(client clientset.Interface, manifest
 
 	etcdPeerAddress := etcdutil.GetPeerURL(endpoint)
 
-	klog.V(1).Infoln("[etcd] Getting the list of existing members")
-	initialCluster, err := etcdClient.ListMembers()
+	klog.V(1).Infof("[etcd] Adding etcd member: %s", etcdPeerAddress)
+	var cluster []etcdutil.Member
+	cluster, err = etcdClient.AddMember(nodeName, etcdPeerAddress)
 	if err != nil {
 		return err
 	}
 
-	// only add the new member if it doesn't already exists
-	var exists bool
-	klog.V(1).Infof("[etcd] Checking if the etcd member already exists: %s", etcdPeerAddress)
-	for i := range initialCluster {
-		if initialCluster[i].PeerURL == etcdPeerAddress {
-			exists = true
-			if len(initialCluster[i].Name) == 0 {
-				klog.V(1).Infof("[etcd] etcd member name is empty. Setting it to the node name: %s", nodeName)
-				initialCluster[i].Name = nodeName
-			}
-			break
-		}
-	}
-
-	if exists {
-		klog.V(1).Infof("[etcd] Etcd member already exists: %s", endpoint)
-	} else {
-		klog.V(1).Infof("[etcd] Adding etcd member: %s", etcdPeerAddress)
-		initialCluster, err = etcdClient.AddMember(nodeName, etcdPeerAddress)
-		if err != nil {
-			return err
-		}
-
-		fmt.Println("[etcd] Announced new etcd member joining to the existing etcd cluster")
-		klog.V(1).Infof("Updated etcd member list: %v", initialCluster)
-	}
+	fmt.Println("[etcd] Announced new etcd member joining to the existing etcd cluster")
+	klog.V(1).Infof("Updated etcd member list: %v", cluster)
 
 	fmt.Printf("[etcd] Creating static Pod manifest for %q\n", kubeadmconstants.Etcd)
 
-	if err := prepareAndWriteEtcdStaticPod(manifestDir, patchesDir, cfg, endpoint, nodeName, initialCluster, isDryRun); err != nil {
+	if err := prepareAndWriteEtcdStaticPod(manifestDir, patchesDir, cfg, endpoint, nodeName, cluster, isDryRun); err != nil {
 		return err
 	}
 
diff --git a/cmd/kubeadm/app/util/etcd/etcd.go b/cmd/kubeadm/app/util/etcd/etcd.go
index f6e7391e6a9..56d201ffad7 100644
--- a/cmd/kubeadm/app/util/etcd/etcd.go
+++ b/cmd/kubeadm/app/util/etcd/etcd.go
@@ -36,6 +36,8 @@ import (
 	"k8s.io/klog/v2"
 
 	"github.com/pkg/errors"
+	"go.etcd.io/etcd/api/v3/etcdserverpb"
+	"go.etcd.io/etcd/api/v3/v3rpc/rpctypes"
 	"go.etcd.io/etcd/client/pkg/v3/transport"
 	clientv3 "go.etcd.io/etcd/client/v3"
 	"google.golang.org/grpc"
@@ -339,7 +341,9 @@ func (c *Client) RemoveMember(id uint64) ([]Member, error) {
 	return ret, nil
 }
 
-// AddMember notifies an existing etcd cluster that a new member is joining
+// AddMember notifies an existing etcd cluster that a new member is joining, and
+// return the updated list of members. If the member has already been added to the
+// cluster, this will return the existing list of etcd members.
 func (c *Client) AddMember(name string, peerAddrs string) ([]Member, error) {
 	// Parse the peer address, required to add the client URL later to the list
 	// of endpoints for this client. Parsing as a first operation to make sure that
@@ -350,8 +354,10 @@ func (c *Client) AddMember(name string, peerAddrs string) ([]Member, error) {
 	}
 
 	// Adds a new member to the cluster
-	var lastError error
-	var resp *clientv3.MemberAddResponse
+	var (
+		lastError   error
+		respMembers []*etcdserverpb.Member
+	)
 	err = wait.ExponentialBackoff(etcdBackoff, func() (bool, error) {
 		cli, err := clientv3.New(clientv3.Config{
 			Endpoints:   c.Endpoints,
@@ -368,11 +374,26 @@ func (c *Client) AddMember(name string, peerAddrs string) ([]Member, error) {
 		defer cli.Close()
 
 		ctx, cancel := context.WithTimeout(context.Background(), etcdTimeout)
+		defer cancel()
+		var resp *clientv3.MemberAddResponse
 		resp, err = cli.MemberAdd(ctx, []string{peerAddrs})
-		cancel()
 		if err == nil {
+			respMembers = resp.Members
 			return true, nil
 		}
+
+		// If the error indicates that the peer already exists, exit early. In this situation, resp is nil, so
+		// call out to MemberList to fetch all the members before returning.
+		if errors.Is(err, rpctypes.ErrPeerURLExist) {
+			klog.V(5).Info("The peer URL for the added etcd member already exists. Fetching the existing etcd members")
+			var listResp *clientv3.MemberListResponse
+			listResp, err = cli.MemberList(ctx)
+			if err == nil {
+				respMembers = listResp.Members
+				return true, nil
+			}
+		}
+
 		klog.V(5).Infof("Failed to add etcd member: %v", err)
 		lastError = err
 		return false, nil
@@ -383,7 +404,7 @@ func (c *Client) AddMember(name string, peerAddrs string) ([]Member, error) {
 
 	// Returns the updated list of etcd members
 	ret := []Member{}
-	for _, m := range resp.Members {
+	for _, m := range respMembers {
 		// If the peer address matches, this is the member we are adding.
 		// Use the name we passed to the function.
 		if peerAddrs == m.PeerURLs[0] {
diff --git a/go.mod b/go.mod
index ba376d9f3e9..99c2741fee1 100644
--- a/go.mod
+++ b/go.mod
@@ -80,6 +80,7 @@ require (
 	github.com/stretchr/testify v1.7.0
 	github.com/vishvananda/netlink v1.1.0
 	github.com/vmware/govmomi v0.20.3
+	go.etcd.io/etcd/api/v3 v3.5.0
 	go.etcd.io/etcd/client/pkg/v3 v3.5.0
 	go.etcd.io/etcd/client/v3 v3.5.0
 	go.opentelemetry.io/otel/sdk v0.20.0
diff --git a/vendor/modules.txt b/vendor/modules.txt
index bf835b9a062..0c534758957 100644
--- a/vendor/modules.txt
+++ b/vendor/modules.txt
@@ -772,6 +772,7 @@ github.com/xlab/treeprint
 # go.etcd.io/bbolt v1.3.6 => go.etcd.io/bbolt v1.3.6
 go.etcd.io/bbolt
 # go.etcd.io/etcd/api/v3 v3.5.0 => go.etcd.io/etcd/api/v3 v3.5.0
+## explicit
 go.etcd.io/etcd/api/v3/authpb
 go.etcd.io/etcd/api/v3/etcdserverpb
 go.etcd.io/etcd/api/v3/etcdserverpb/gw