diff --git a/server/etcdserver/api/membership/cluster.go b/server/etcdserver/api/membership/cluster.go
index 6becdfd62ed..f67d7f2c24d 100644
--- a/server/etcdserver/api/membership/cluster.go
+++ b/server/etcdserver/api/membership/cluster.go
@@ -783,11 +783,7 @@ func (c *RaftCluster) IsLocalMemberLearner() bool {
 	defer c.Unlock()
 	localMember, ok := c.members[c.localID]
 	if !ok {
-		c.lg.Panic(
-			"failed to find local ID in cluster members",
-			zap.String("cluster-id", c.cid.String()),
-			zap.String("local-member-id", c.localID.String()),
-		)
+		return false
 	}
 	return localMember.IsLearner
 }
@@ -816,6 +812,9 @@ func (c *RaftCluster) SetDowngradeInfo(d *serverversion.DowngradeInfo, shouldApp
 
 // IsMemberExist returns if the member with the given id exists in cluster.
 func (c *RaftCluster) IsMemberExist(id types.ID) bool {
+	// gofail: var sleepAfterIsMemberExist struct{}
+	// defer time.Sleep(time.Second)
+
 	c.Lock()
 	defer c.Unlock()
 	_, ok := c.members[id]
diff --git a/server/etcdserver/api/v3rpc/interceptor.go b/server/etcdserver/api/v3rpc/interceptor.go
index 65e068ebbfc..72916ab676f 100644
--- a/server/etcdserver/api/v3rpc/interceptor.go
+++ b/server/etcdserver/api/v3rpc/interceptor.go
@@ -49,7 +49,7 @@ func newUnaryInterceptor(s *etcdserver.EtcdServer) grpc.UnaryServerInterceptor {
 			return nil, rpctypes.ErrGRPCNotCapable
 		}
 
-		if s.IsMemberExist(s.MemberID()) && s.IsLearner() && !isRPCSupportedForLearner(req) {
+		if s.IsLearner() && !isRPCSupportedForLearner(req) {
 			return nil, rpctypes.ErrGRPCNotSupportedForLearner
 		}
 
@@ -218,7 +218,7 @@ func newStreamInterceptor(s *etcdserver.EtcdServer) grpc.StreamServerInterceptor
 			return rpctypes.ErrGRPCNotCapable
 		}
 
-		if s.IsMemberExist(s.MemberID()) && s.IsLearner() && info.FullMethod != snapshotMethod { // learner does not support stream RPC except Snapshot
+		if s.IsLearner() && info.FullMethod != snapshotMethod { // learner does not support stream RPC except Snapshot
 			return rpctypes.ErrGRPCNotSupportedForLearner
 		}
 
diff --git a/server/etcdserver/server.go b/server/etcdserver/server.go
index ba3a3f3ffe1..0615d20e8b3 100644
--- a/server/etcdserver/server.go
+++ b/server/etcdserver/server.go
@@ -1224,7 +1224,8 @@ func (s *EtcdServer) isLeader() bool {
 
 // MoveLeader transfers the leader to the given transferee.
 func (s *EtcdServer) MoveLeader(ctx context.Context, lead, transferee uint64) error {
-	if !s.cluster.IsMemberExist(types.ID(transferee)) || s.cluster.Member(types.ID(transferee)).IsLearner {
+	member := s.cluster.Member(types.ID(transferee))
+	if member == nil || member.IsLearner {
 		return errors.ErrBadLeaderTransferee
 	}
 
@@ -1593,9 +1594,9 @@ func (s *EtcdServer) mayRemoveMember(id types.ID) error {
 	}
 
 	lg := s.Logger()
-	isLearner := s.cluster.IsMemberExist(id) && s.cluster.Member(id).IsLearner
+	member := s.cluster.Member(id)
 	// no need to check quorum when removing non-voting member
-	if isLearner {
+	if member != nil && member.IsLearner {
 		return nil
 	}
 
diff --git a/tests/integration/cluster_test.go b/tests/integration/cluster_test.go
index 29f8ae8dd5d..7711284f72a 100644
--- a/tests/integration/cluster_test.go
+++ b/tests/integration/cluster_test.go
@@ -518,3 +518,51 @@ func TestSpeedyTerminate(t *testing.T) {
 	case <-donec:
 	}
 }
+
+// TestConcurrentRemoveMember demonstrated a panic in mayRemoveMember with
+// concurrent calls to MemberRemove. To reliably reproduce the panic, a delay
+// needed to be injected in IsMemberExist, which is done using a failpoint.
+// After fixing the bug, IsMemberExist is no longer called by mayRemoveMember.
+func TestConcurrentRemoveMember(t *testing.T) {
+	integration.BeforeTest(t, integration.WithFailpoint("sleepAfterIsMemberExist", `return`))
+	c := integration.NewCluster(t, &integration.ClusterConfig{Size: 1})
+	defer c.Terminate(t)
+
+	addResp, err := c.Members[0].Client.MemberAddAsLearner(context.Background(), []string{"http://localhost:123"})
+	if err != nil {
+		t.Fatal(err)
+	}
+	removeID := addResp.Member.ID
+	done := make(chan struct{})
+	go func() {
+		time.Sleep(time.Second / 2)
+		c.Members[0].Client.MemberRemove(context.Background(), removeID)
+		close(done)
+	}()
+	if _, err := c.Members[0].Client.MemberRemove(context.Background(), removeID); err != nil {
+		t.Fatal(err)
+	}
+	<-done
+}
+
+func TestConcurrentMoveLeader(t *testing.T) {
+	integration.BeforeTest(t, integration.WithFailpoint("sleepAfterIsMemberExist", `return`))
+	c := integration.NewCluster(t, &integration.ClusterConfig{Size: 1})
+	defer c.Terminate(t)
+
+	addResp, err := c.Members[0].Client.MemberAddAsLearner(context.Background(), []string{"http://localhost:123"})
+	if err != nil {
+		t.Fatal(err)
+	}
+	removeID := addResp.Member.ID
+	done := make(chan struct{})
+	go func() {
+		time.Sleep(time.Second / 2)
+		c.Members[0].Client.MoveLeader(context.Background(), removeID)
+		close(done)
+	}()
+	if _, err := c.Members[0].Client.MemberRemove(context.Background(), removeID); err != nil {
+		t.Fatal(err)
+	}
+	<-done
+}
diff --git a/tests/robustness/makefile.mk b/tests/robustness/makefile.mk
index 8c40436cd2f..09d10108fb6 100644
--- a/tests/robustness/makefile.mk
+++ b/tests/robustness/makefile.mk
@@ -54,7 +54,7 @@ install-gofail: $(GOPATH)/bin/gofail
 
 .PHONY: gofail-enable
 gofail-enable: $(GOPATH)/bin/gofail
-	$(GOPATH)/bin/gofail enable server/etcdserver/ server/lease/leasehttp server/storage/backend/ server/storage/mvcc/ server/storage/wal/ server/etcdserver/api/v3rpc/
+	$(GOPATH)/bin/gofail enable server/etcdserver/ server/lease/leasehttp server/storage/backend/ server/storage/mvcc/ server/storage/wal/ server/etcdserver/api/v3rpc/ server/etcdserver/api/membership/
 	cd ./server && go get go.etcd.io/gofail@${GOFAIL_VERSION}
 	cd ./etcdutl && go get go.etcd.io/gofail@${GOFAIL_VERSION}
 	cd ./etcdctl && go get go.etcd.io/gofail@${GOFAIL_VERSION}
@@ -62,7 +62,7 @@ gofail-enable: $(GOPATH)/bin/gofail
 
 .PHONY: gofail-disable
 gofail-disable: $(GOPATH)/bin/gofail
-	$(GOPATH)/bin/gofail disable server/etcdserver/ server/lease/leasehttp server/storage/backend/ server/storage/mvcc/ server/storage/wal/ server/etcdserver/api/v3rpc/
+	$(GOPATH)/bin/gofail disable server/etcdserver/ server/lease/leasehttp server/storage/backend/ server/storage/mvcc/ server/storage/wal/ server/etcdserver/api/v3rpc/ server/etcdserver/api/membership/
 	cd ./server && go mod tidy
 	cd ./etcdutl && go mod tidy
 	cd ./etcdctl && go mod tidy