diff --git a/consul/agent/server.go b/consul/agent/server.go
index 6510f34ea..9a9ce8810 100644
--- a/consul/agent/server.go
+++ b/consul/agent/server.go
@@ -34,6 +34,7 @@ type Server struct {
 	Version     int
 	RaftVersion int
 	Addr        net.Addr
+	Status      serf.MemberStatus
 }
 
 // Key returns the corresponding Key
@@ -104,6 +105,7 @@ func IsConsulServer(m serf.Member) (bool, *Server) {
 		Addr:        addr,
 		Version:     vsn,
 		RaftVersion: raft_vsn,
+		Status:      m.Status,
 	}
 	return true, parts
 }
diff --git a/consul/agent/server_test.go b/consul/agent/server_test.go
index 06321c7e2..9e697d6d1 100644
--- a/consul/agent/server_test.go
+++ b/consul/agent/server_test.go
@@ -62,6 +62,7 @@ func TestIsConsulServer(t *testing.T) {
 			"vsn":      "1",
 			"raft_vsn": "3",
 		},
+		Status: serf.StatusLeft,
 	}
 	ok, parts := agent.IsConsulServer(m)
 	if !ok || parts.Datacenter != "east-aws" || parts.Port != 10000 {
@@ -82,6 +83,9 @@ func TestIsConsulServer(t *testing.T) {
 	if parts.RaftVersion != 3 {
 		t.Fatalf("bad: %v", parts.RaftVersion)
 	}
+	if parts.Status != serf.StatusLeft {
+		t.Fatalf("bad: %v", parts.Status)
+	}
 	m.Tags["bootstrap"] = "1"
 	m.Tags["disabled"] = "1"
 	ok, parts = agent.IsConsulServer(m)
diff --git a/consul/autopilot.go b/consul/autopilot.go
index cc0632a1a..ba564a992 100644
--- a/consul/autopilot.go
+++ b/consul/autopilot.go
@@ -1,6 +1,7 @@
 package consul
 
 import (
+	"context"
 	"fmt"
 	"strconv"
 	"sync"
@@ -229,7 +230,7 @@ func (s *Server) updateClusterHealth() error {
 	}
 
 	// Get the the serf members which are Consul servers
-	serverMap := make(map[string]serf.Member)
+	serverMap := make(map[string]*agent.Server)
 	for _, member := range s.LANMembers() {
 		if member.Status == serf.StatusLeft {
 			continue
@@ -237,7 +238,7 @@ func (s *Server) updateClusterHealth() error {
 
 		valid, parts := agent.IsConsulServer(member)
 		if valid {
-			serverMap[parts.ID] = member
+			serverMap[parts.ID] = parts
 		}
 	}
 
@@ -245,10 +246,25 @@ func (s *Server) updateClusterHealth() error {
 	if err := future.Error(); err != nil {
 		return fmt.Errorf("error getting Raft configuration %s", err)
 	}
+	servers := future.Configuration().Servers
+
+	// Fetch the health for each of the servers in parallel so we get as
+	// consistent of a sample as possible. We capture the leader's index
+	// here as well so it roughly lines up with the same point in time.
+	targetLastIndex := s.raft.LastIndex()
+	var fetchList []*agent.Server
+	for _, server := range servers {
+		if parts, ok := serverMap[string(server.ID)]; ok {
+			fetchList = append(fetchList, parts)
+		}
+	}
+	d := time.Now().Add(s.config.ServerHealthInterval / 2)
+	ctx, cancel := context.WithDeadline(context.Background(), d)
+	defer cancel()
+	fetchedStats := s.statsFetcher.Fetch(ctx, fetchList)
 
 	// Build a current list of server healths
 	var clusterHealth structs.OperatorHealthReply
-	servers := future.Configuration().Servers
 	healthyCount := 0
 	voterCount := 0
 	for _, server := range servers {
@@ -259,12 +275,14 @@ func (s *Server) updateClusterHealth() error {
 			Voter:       server.Suffrage == raft.Voter,
 		}
 
-		member, ok := serverMap[string(server.ID)]
+		parts, ok := serverMap[string(server.ID)]
 		if ok {
-			health.Name = member.Name
-			health.SerfStatus = member.Status
-			if err := s.updateServerHealth(&health, member, autopilotConf); err != nil {
-				s.logger.Printf("[ERR] consul: error getting server health: %s", err)
+			health.Name = parts.Name
+			health.SerfStatus = parts.Status
+			if stats, ok := fetchedStats[string(server.ID)]; ok {
+				if err := s.updateServerHealth(&health, parts, stats, autopilotConf, targetLastIndex); err != nil {
+					s.logger.Printf("[WARN] consul: error updating server health: %s", err)
+				}
 			}
 		} else {
 			health.SerfStatus = serf.StatusNone
@@ -304,20 +322,17 @@ func (s *Server) updateClusterHealth() error {
 	return nil
 }
 
-// updateServerHealth fetches the raft stats for the given server and uses them
-// to update its ServerHealth
-func (s *Server) updateServerHealth(health *structs.ServerHealth, member serf.Member, autopilotConf *structs.AutopilotConfig) error {
-	_, server := agent.IsConsulServer(member)
-
-	stats, err := s.getServerStats(server)
-	if err != nil {
-		return fmt.Errorf("error getting raft stats: %s", err)
-	}
+// updateServerHealth computes the resulting health of the server based on its
+// fetched stats and the state of the leader.
+func (s *Server) updateServerHealth(health *structs.ServerHealth,
+	server *agent.Server, stats *structs.ServerStats,
+	autopilotConf *structs.AutopilotConfig, targetLastIndex uint64) error {
 
 	health.LastTerm = stats.LastTerm
 	health.LastIndex = stats.LastIndex
 
 	if stats.LastContact != "never" {
+		var err error
 		health.LastContact, err = time.ParseDuration(stats.LastContact)
 		if err != nil {
 			return fmt.Errorf("error parsing last_contact duration: %s", err)
@@ -328,7 +343,7 @@ func (s *Server) updateServerHealth(health *structs.ServerHealth, member serf.Me
 	if err != nil {
 		return fmt.Errorf("error parsing last_log_term: %s", err)
 	}
-	health.Healthy = health.IsHealthy(lastTerm, s.raft.LastIndex(), autopilotConf)
+	health.Healthy = health.IsHealthy(lastTerm, targetLastIndex, autopilotConf)
 
 	// If this is a new server or the health changed, reset StableSince
 	lastHealth := s.getServerHealth(server.ID)
@@ -357,10 +372,3 @@ func (s *Server) getServerHealth(id string) *structs.ServerHealth {
 	}
 	return nil
 }
-
-func (s *Server) getServerStats(server *agent.Server) (structs.ServerStats, error) {
-	var args struct{}
-	var reply structs.ServerStats
-	err := s.connPool.RPC(s.config.Datacenter, server.Addr, server.Version, "Status.RaftStats", &args, &reply)
-	return reply, err
-}
diff --git a/consul/server.go b/consul/server.go
index 668177ced..75a8ed7ac 100644
--- a/consul/server.go
+++ b/consul/server.go
@@ -161,6 +161,10 @@ type Server struct {
 	sessionTimers     map[string]*time.Timer
 	sessionTimersLock sync.Mutex
 
+	// statsFetcher is used by autopilot to check the status of the other
+	// Consul servers.
+	statsFetcher *StatsFetcher
+
 	// tombstoneGC is used to track the pending GC invocations
 	// for the KV tombstones
 	tombstoneGC *state.TombstoneGC
@@ -255,6 +259,9 @@ func NewServer(config *Config) (*Server, error) {
 	}
 	s.autopilotPolicy = &BasicAutopilot{s}
 
+	// Initialize the stats fetcher that autopilot will use.
+	s.statsFetcher = NewStatsFetcher(logger, s.connPool, s.config.Datacenter)
+
 	// Initialize the authoritative ACL cache.
 	s.aclAuthCache, err = acl.NewCache(aclCacheSize, s.aclLocalFault)
 	if err != nil {
diff --git a/consul/stats_fetcher.go b/consul/stats_fetcher.go
new file mode 100644
index 000000000..74611c419
--- /dev/null
+++ b/consul/stats_fetcher.go
@@ -0,0 +1,97 @@
+package consul
+
+import (
+	"context"
+	"log"
+	"sync"
+
+	"github.com/hashicorp/consul/consul/agent"
+	"github.com/hashicorp/consul/consul/structs"
+)
+
+// StatsFetcher has two functions for autopilot. First, lets us fetch all the
+// stats in parallel so we are taking a sample as close to the same time as
+// possible, since we are comparing time-sensitive info for the health check.
+// Second, it bounds the time so that one slow RPC can't hold up the health
+// check loop; as a side effect of how it implements this, it also limits to
+// a single in-flight RPC to any given server, so goroutines don't accumulate
+// as we run the health check fairly frequently.
+type StatsFetcher struct {
+	logger       *log.Logger
+	pool         *ConnPool
+	datacenter   string
+	inflight     map[string]struct{}
+	inflightLock sync.Mutex
+}
+
+// NewStatsFetcher returns a stats fetcher.
+func NewStatsFetcher(logger *log.Logger, pool *ConnPool, datacenter string) *StatsFetcher {
+	return &StatsFetcher{
+		logger:     logger,
+		pool:       pool,
+		datacenter: datacenter,
+		inflight:   make(map[string]struct{}),
+	}
+}
+
+// fetch does the RPC to fetch the server stats from a single server. We don't
+// cancel this when the context is canceled because we only want one in-flight
+// RPC to each server, so we let it finish and then clean up the in-flight
+// tracking.
+func (f *StatsFetcher) fetch(server *agent.Server, replyCh chan *structs.ServerStats) {
+	var args struct{}
+	var reply structs.ServerStats
+	err := f.pool.RPC(f.datacenter, server.Addr, server.Version, "Status.RaftStats", &args, &reply)
+	if err != nil {
+		f.logger.Printf("[WARN] consul: error getting server health from %q: %v",
+			server.Name, err)
+	} else {
+		replyCh <- &reply
+	}
+
+	f.inflightLock.Lock()
+	delete(f.inflight, server.ID)
+	f.inflightLock.Unlock()
+}
+
+// Fetch will attempt to query all the servers in parallel.
+func (f *StatsFetcher) Fetch(ctx context.Context, servers []*agent.Server) map[string]*structs.ServerStats {
+	type workItem struct {
+		server  *agent.Server
+		replyCh chan *structs.ServerStats
+	}
+	var work []*workItem
+
+	// Skip any servers that have inflight requests.
+	f.inflightLock.Lock()
+	for _, server := range servers {
+		if _, ok := f.inflight[server.ID]; ok {
+			f.logger.Printf("[WARN] consul: error getting server health from %q: last request still outstanding",
+				server.Name)
+		} else {
+			workItem := &workItem{
+				server:  server,
+				replyCh: make(chan *structs.ServerStats, 1),
+			}
+			work = append(work, workItem)
+			f.inflight[server.ID] = struct{}{}
+			go f.fetch(workItem.server, workItem.replyCh)
+		}
+	}
+	f.inflightLock.Unlock()
+
+	// Now wait for the results to come in, or for the context to be
+	// canceled.
+	replies := make(map[string]*structs.ServerStats)
+	for _, workItem := range work {
+		select {
+		case reply := <-workItem.replyCh:
+			replies[workItem.server.ID] = reply
+
+		case <-ctx.Done():
+			f.logger.Printf("[WARN] consul: error getting server health from %q: %v",
+				workItem.server.Name, ctx.Err())
+		}
+	}
+	return replies
+}
diff --git a/consul/stats_fetcher_test.go b/consul/stats_fetcher_test.go
new file mode 100644
index 000000000..38d2673b9
--- /dev/null
+++ b/consul/stats_fetcher_test.go
@@ -0,0 +1,109 @@
+package consul
+
+import (
+	"context"
+	"fmt"
+	"os"
+	"testing"
+	"time"
+
+	"github.com/hashicorp/consul/consul/agent"
+	"github.com/hashicorp/consul/testutil"
+	"github.com/hashicorp/consul/types"
+)
+
+func TestStatsFetcher(t *testing.T) {
+	dir1, s1 := testServerDCExpect(t, "dc1", 3)
+	defer os.RemoveAll(dir1)
+	defer s1.Shutdown()
+
+	dir2, s2 := testServerDCExpect(t, "dc1", 3)
+	defer os.RemoveAll(dir2)
+	defer s2.Shutdown()
+
+	dir3, s3 := testServerDCExpect(t, "dc1", 3)
+	defer os.RemoveAll(dir3)
+	defer s3.Shutdown()
+
+	addr := fmt.Sprintf("127.0.0.1:%d",
+		s1.config.SerfLANConfig.MemberlistConfig.BindPort)
+	if _, err := s2.JoinLAN([]string{addr}); err != nil {
+		t.Fatalf("err: %v", err)
+	}
+	if _, err := s3.JoinLAN([]string{addr}); err != nil {
+		t.Fatalf("err: %v", err)
+	}
+	testutil.WaitForLeader(t, s1.RPC, "dc1")
+
+	members := s1.serfLAN.Members()
+	if len(members) != 3 {
+		t.Fatalf("bad len: %d", len(members))
+	}
+
+	var servers []*agent.Server
+	for _, member := range members {
+		ok, server := agent.IsConsulServer(member)
+		if !ok {
+			t.Fatalf("bad: %#v", member)
+		}
+		servers = append(servers, server)
+	}
+
+	// Do a normal fetch and make sure we get three responses.
+	func() {
+		ctx, cancel := context.WithTimeout(context.Background(), time.Second)
+		defer cancel()
+		stats := s1.statsFetcher.Fetch(ctx, servers)
+		if len(stats) != 3 {
+			t.Fatalf("bad: %#v", stats)
+		}
+		for id, stat := range stats {
+			switch types.NodeID(id) {
+			case s1.config.NodeID, s2.config.NodeID, s3.config.NodeID:
+				// OK
+			default:
+				t.Fatalf("bad: %s", id)
+			}
+
+			if stat == nil || stat.LastTerm == 0 {
+				t.Fatalf("bad: %#v", stat)
+			}
+		}
+	}()
+
+	// Fake an in-flight request to server 3 and make sure we don't fetch
+	// from it.
+	func() {
+		s1.statsFetcher.inflight[string(s3.config.NodeID)] = struct{}{}
+		defer delete(s1.statsFetcher.inflight, string(s3.config.NodeID))
+
+		ctx, cancel := context.WithTimeout(context.Background(), time.Second)
+		defer cancel()
+		stats := s1.statsFetcher.Fetch(ctx, servers)
+		if len(stats) != 2 {
+			t.Fatalf("bad: %#v", stats)
+		}
+		for id, stat := range stats {
+			switch types.NodeID(id) {
+			case s1.config.NodeID, s2.config.NodeID:
+				// OK
+			case s3.config.NodeID:
+				t.Fatalf("bad")
+			default:
+				t.Fatalf("bad: %s", id)
+			}
+
+			if stat == nil || stat.LastTerm == 0 {
+				t.Fatalf("bad: %#v", stat)
+			}
+		}
+	}()
+
+	// Do a fetch with a canceled context and make sure we bail right away.
+	ctx, cancel := context.WithTimeout(context.Background(), time.Second)
+	cancel()
+	stats := s1.statsFetcher.Fetch(ctx, servers)
+	if len(stats) != 0 {
+		t.Fatalf("bad: %#v", stats)
+	}
+}
diff --git a/consul/structs/operator.go b/consul/structs/operator.go
index 619accaee..8ebb5a8eb 100644
--- a/consul/structs/operator.go
+++ b/consul/structs/operator.go
@@ -139,7 +139,7 @@ type ServerHealth struct {
 
 // IsHealthy determines whether this ServerHealth is considered healthy
 // based on the given Autopilot config
-func (h *ServerHealth) IsHealthy(lastTerm uint64, lastIndex uint64, autopilotConf *AutopilotConfig) bool {
+func (h *ServerHealth) IsHealthy(lastTerm uint64, leaderLastIndex uint64, autopilotConf *AutopilotConfig) bool {
 	if h.SerfStatus != serf.StatusAlive {
 		return false
 	}
@@ -152,7 +152,7 @@ func (h *ServerHealth) IsHealthy(lastTerm uint64, lastIndex uint64, autopilotCon
 		return false
 	}
 
-	if lastIndex > autopilotConf.MaxTrailingLogs && h.LastIndex < lastIndex-autopilotConf.MaxTrailingLogs {
+	if leaderLastIndex > autopilotConf.MaxTrailingLogs && h.LastIndex < leaderLastIndex-autopilotConf.MaxTrailingLogs {
 		return false
 	}