diff --git a/cmd/kubeadm/app/phases/etcd/local.go b/cmd/kubeadm/app/phases/etcd/local.go
index c1b7eb565a..bde58eb61a 100644
--- a/cmd/kubeadm/app/phases/etcd/local.go
+++ b/cmd/kubeadm/app/phases/etcd/local.go
@@ -21,6 +21,7 @@ import (
 	"os"
 	"path/filepath"
 	"strings"
+	"time"
 
 	"github.com/pkg/errors"
 	"k8s.io/klog"
@@ -36,8 +37,10 @@ import (
 )
 
 const (
-	etcdVolumeName  = "etcd-data"
-	certsVolumeName = "etcd-certs"
+	etcdVolumeName           = "etcd-data"
+	certsVolumeName          = "etcd-certs"
+	etcdHealthyCheckInterval = 5 * time.Second
+	etcdHealthyCheckRetries  = 20
 )
 
 // CreateLocalEtcdStaticPodManifestFile will write local etcd static pod manifest file.
@@ -61,13 +64,13 @@ func CreateLocalEtcdStaticPodManifestFile(manifestDir string, cfg *kubeadmapi.In
 		return err
 	}
 
-	klog.V(1).Infof("[etcd] wrote Static Pod manifest for a local etcd instance to %q\n", kubeadmconstants.GetStaticPodFilepath(kubeadmconstants.Etcd, manifestDir))
+	klog.V(1).Infof("[etcd] wrote Static Pod manifest for a local etcd member to %q\n", kubeadmconstants.GetStaticPodFilepath(kubeadmconstants.Etcd, manifestDir))
 	return nil
 }
 
 // CheckLocalEtcdClusterStatus verifies health state of local/stacked etcd cluster before installing a new etcd member
 func CheckLocalEtcdClusterStatus(client clientset.Interface, cfg *kubeadmapi.InitConfiguration) error {
-	fmt.Println("[etcd] Checking Etcd cluster health")
+	fmt.Println("[etcd] Checking etcd cluster health")
 
 	// creates an etcd client that connects to all the local/stacked etcd members
 	klog.V(1).Info("creating etcd client that connects to etcd pods")
@@ -120,7 +123,13 @@ func CreateStackedEtcdStaticPodManifestFile(client clientset.Interface, manifest
 		return err
 	}
 
-	fmt.Printf("[etcd] Wrote Static Pod manifest for a local etcd instance to %q\n", kubeadmconstants.GetStaticPodFilepath(kubeadmconstants.Etcd, manifestDir))
+	fmt.Printf("[etcd] Wrote Static Pod manifest for a local etcd member to %q\n", kubeadmconstants.GetStaticPodFilepath(kubeadmconstants.Etcd, manifestDir))
+
+	fmt.Printf("[etcd] Waiting for the new etcd member to join the cluster. This can take up to %v\n", etcdHealthyCheckInterval*etcdHealthyCheckRetries)
+	if _, err := etcdClient.WaitForClusterAvailable(etcdHealthyCheckRetries, etcdHealthyCheckInterval); err != nil {
+		return err
+	}
+
 	return nil
 }
 
@@ -172,7 +181,7 @@ func getEtcdCommand(cfg *kubeadmapi.InitConfiguration, initialCluster []etcdutil
 	if len(initialCluster) == 0 {
 		defaultArguments["initial-cluster"] = fmt.Sprintf("%s=%s", cfg.GetNodeName(), etcdutil.GetPeerURL(cfg))
 	} else {
-		// NB. the joining etcd instance should be part of the initialCluster list
+		// NB. the joining etcd member should be part of the initialCluster list
 		endpoints := []string{}
 		for _, member := range initialCluster {
 			endpoints = append(endpoints, fmt.Sprintf("%s=%s", member.Name, member.PeerURL))
diff --git a/cmd/kubeadm/app/util/etcd/etcd.go b/cmd/kubeadm/app/util/etcd/etcd.go
index ef0ac4bd7c..f13d621ee6 100644
--- a/cmd/kubeadm/app/util/etcd/etcd.go
+++ b/cmd/kubeadm/app/util/etcd/etcd.go
@@ -21,6 +21,7 @@ import (
 	"crypto/tls"
 	"fmt"
 	"net"
+	"net/url"
 	"path/filepath"
 	"strconv"
 	"strings"
@@ -73,7 +74,7 @@ func New(endpoints []string, ca, cert, key string) (*Client, error) {
 	return &client, nil
 }
 
-// NewFromCluster creates an etcd client for the the etcd endpoints defined in the ClusterStatus value stored in
+// NewFromCluster creates an etcd client for the etcd endpoints defined in the ClusterStatus value stored in
 // the kubeadm-config ConfigMap in kube-system namespace.
 // Once created, the client synchronizes client's endpoints with the known endpoints from the etcd membership API (reality check).
 func NewFromCluster(client clientset.Interface, certificatesDir string) (*Client, error) {
@@ -146,7 +147,15 @@ type Member struct {
 }
 
 // AddMember notifies an existing etcd cluster that a new member is joining
-func (c Client) AddMember(name string, peerAddrs string) ([]Member, error) {
+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
+	// if this fails no member addition is performed on the etcd cluster.
+	parsedPeerAddrs, err := url.Parse(peerAddrs)
+	if err != nil {
+		return nil, errors.Wrapf(err, "error parsing peer address %s", peerAddrs)
+	}
+
 	cli, err := clientv3.New(clientv3.Config{
 		Endpoints:   c.Endpoints,
 		DialTimeout: 20 * time.Second,
@@ -176,6 +185,9 @@ func (c Client) AddMember(name string, peerAddrs string) ([]Member, error) {
 		}
 	}
 
+	// Add the new member client address to the list of endpoints
+	c.Endpoints = append(c.Endpoints, GetClientURLByIP(parsedPeerAddrs.Hostname()))
+
 	return ret, nil
 }
 
@@ -255,7 +267,7 @@ func (c Client) WaitForClusterAvailable(retries int, retryInterval time.Duration
 			fmt.Printf("[util/etcd] Waiting %v until next retry\n", retryInterval)
 			time.Sleep(retryInterval)
 		}
-		fmt.Printf("[util/etcd] Attempting to see if all cluster endpoints are available %d/%d\n", i+1, retries)
+		klog.V(2).Infof("attempting to see if all cluster endpoints (%s) are available %d/%d", c.Endpoints, i+1, retries)
 		resp, err := c.ClusterAvailable()
 		if err != nil {
 			switch err {