diff --git a/command/agent/agent.go b/command/agent/agent.go
index 4782f43b3..58bbef6cf 100644
--- a/command/agent/agent.go
+++ b/command/agent/agent.go
@@ -28,6 +28,7 @@ import (
 	"github.com/hashicorp/serf/coordinate"
 	"github.com/hashicorp/serf/serf"
 	"github.com/shirou/gopsutil/host"
+	"github.com/hashicorp/raft"
 )
 
 const (
@@ -412,6 +413,12 @@ func (a *Agent) consulConfig() *consul.Config {
 	if a.config.SessionTTLMinRaw != "" {
 		base.SessionTTLMin = a.config.SessionTTLMin
 	}
+	if a.config.Autopilot.RaftProtocolVersion != 0 {
+		base.RaftConfig.ProtocolVersion = raft.ProtocolVersion(a.config.Autopilot.RaftProtocolVersion)
+	}
+	if a.config.Autopilot.DeadServerCleanup != nil {
+		base.DeadServerCleanup = *a.config.Autopilot.DeadServerCleanup
+	}
 
 	// Format the build string
 	revision := a.config.Revision
diff --git a/command/agent/config.go b/command/agent/config.go
index ac72e023d..1f7793146 100644
--- a/command/agent/config.go
+++ b/command/agent/config.go
@@ -262,6 +262,16 @@ type Telemetry struct {
 	CirconusBrokerSelectTag string `mapstructure:"circonus_broker_select_tag"`
 }
 
+// Autopilot is used to configure helpful features for operating Consul servers.
+type Autopilot struct {
+	// RaftProtocolVersion sets the Raft protocol version to use on this server.
+	RaftProtocolVersion int `mapstructure:"raft_protocol"`
+
+	// DeadServerCleanup enables the automatic cleanup of dead servers when new ones
+	// are added to the peer list. Defaults to true.
+	DeadServerCleanup *bool `mapstructure:"dead_server_cleanup"`
+}
+
 // Config is the configuration that can be set for an Agent.
 // Some of this is configurable as CLI flags, but most must
 // be set using a configuration file.
@@ -387,6 +397,9 @@ type Config struct {
 	// servers. This can be changed on reload.
 	SkipLeaveOnInt *bool `mapstructure:"skip_leave_on_interrupt"`
 
+	// Autopilot is used to configure helpful features for operating Consul servers.
+	Autopilot Autopilot `mapstructure:"autopilot"`
+
 	Telemetry Telemetry `mapstructure:"telemetry"`
 
 	// Protocol is the Consul protocol version to use.
@@ -759,6 +772,9 @@ func DefaultConfig() *Config {
 		CheckReapInterval:          30 * time.Second,
 		AEInterval:                 time.Minute,
 		DisableCoordinates:         false,
+		Autopilot:                  Autopilot{
+			DeadServerCleanup: Bool(true),
+		},
 
 		// SyncCoordinateRateTarget is set based on the rate that we want
 		// the server to handle as an aggregate across the entire cluster.
@@ -1331,6 +1347,12 @@ func MergeConfig(a, b *Config) *Config {
 	if b.SkipLeaveOnInt != nil {
 		result.SkipLeaveOnInt = b.SkipLeaveOnInt
 	}
+	if b.Autopilot.RaftProtocolVersion != 0 {
+		result.Autopilot.RaftProtocolVersion = b.Autopilot.RaftProtocolVersion
+	}
+	if b.Autopilot.DeadServerCleanup != nil {
+		result.Autopilot.DeadServerCleanup = b.Autopilot.DeadServerCleanup
+	}
 	if b.Telemetry.DisableHostname == true {
 		result.Telemetry.DisableHostname = true
 	}
diff --git a/command/agent/config_test.go b/command/agent/config_test.go
index 4c9addc48..1510c3fdd 100644
--- a/command/agent/config_test.go
+++ b/command/agent/config_test.go
@@ -1098,6 +1098,20 @@ func TestDecodeConfig_Performance(t *testing.T) {
 	}
 }
 
+func TestDecodeConfig_Autopilot(t *testing.T) {
+	input := `{"autopilot": { "raft_protocol": 3, "dead_server_cleanup": true }}`
+	config, err := DecodeConfig(bytes.NewReader([]byte(input)))
+	if err != nil {
+		t.Fatalf("err: %s", err)
+	}
+	if config.Autopilot.RaftProtocolVersion != 3 {
+		t.Fatalf("bad: raft_protocol isn't set: %#v", config)
+	}
+	if config.Autopilot.DeadServerCleanup == nil || !*config.Autopilot.DeadServerCleanup {
+		t.Fatalf("bad: dead_server_cleanup isn't set: %#v", config)
+	}
+}
+
 func TestDecodeConfig_Services(t *testing.T) {
 	input := `{
 		"services": [
@@ -1619,6 +1633,10 @@ func TestMergeConfig(t *testing.T) {
 		Server:                 true,
 		LeaveOnTerm:            Bool(true),
 		SkipLeaveOnInt:         Bool(true),
+		Autopilot:              Autopilot{
+			RaftProtocolVersion: 3,
+			DeadServerCleanup:   Bool(true),
+		},
 		EnableDebug:            true,
 		VerifyIncoming:         true,
 		VerifyOutgoing:         true,
diff --git a/consul/agent/server.go b/consul/agent/server.go
index 8ba1f0c5d..bd6c6c7cf 100644
--- a/consul/agent/server.go
+++ b/consul/agent/server.go
@@ -25,13 +25,15 @@ func (k *Key) Equal(x *Key) bool {
 
 // Server is used to return details of a consul server
 type Server struct {
-	Name       string
-	Datacenter string
-	Port       int
-	Bootstrap  bool
-	Expect     int
-	Version    int
-	Addr       net.Addr
+	Name        string
+	ID          string
+	Datacenter  string
+	Port        int
+	Bootstrap   bool
+	Expect      int
+	Version     int
+	RaftVersion int
+	Addr        net.Addr
 }
 
 // Key returns the corresponding Key
@@ -84,16 +86,24 @@ func IsConsulServer(m serf.Member) (bool, *Server) {
 		return false, nil
 	}
 
+	raft_vsn_str := m.Tags["raft_vsn"]
+	raft_vsn, err := strconv.Atoi(raft_vsn_str)
+	if err != nil {
+		return false, nil
+	}
+
 	addr := &net.TCPAddr{IP: m.Addr, Port: port}
 
 	parts := &Server{
 		Name:       m.Name,
+		ID:         m.Tags["id"],
 		Datacenter: datacenter,
 		Port:       port,
 		Bootstrap:  bootstrap,
 		Expect:     expect,
 		Addr:       addr,
 		Version:    vsn,
+		RaftVersion: raft_vsn,
 	}
 	return true, parts
 }
diff --git a/consul/agent/server_test.go b/consul/agent/server_test.go
index 0dda84f85..adf762239 100644
--- a/consul/agent/server_test.go
+++ b/consul/agent/server_test.go
@@ -56,9 +56,11 @@ func TestIsConsulServer(t *testing.T) {
 		Addr: net.IP([]byte{127, 0, 0, 1}),
 		Tags: map[string]string{
 			"role": "consul",
+			"id":   "asdf",
 			"dc":   "east-aws",
 			"port": "10000",
 			"vsn":  "1",
+			"raft_vsn": "3",
 		},
 	}
 	ok, parts := agent.IsConsulServer(m)
@@ -68,12 +70,18 @@ func TestIsConsulServer(t *testing.T) {
 	if parts.Name != "foo" {
 		t.Fatalf("bad: %v", parts)
 	}
+	if parts.ID != "asdf" {
+		t.Fatalf("bad: %v", parts.ID)
+	}
 	if parts.Bootstrap {
 		t.Fatalf("unexpected bootstrap")
 	}
 	if parts.Expect != 0 {
 		t.Fatalf("bad: %v", parts.Expect)
 	}
+	if parts.RaftVersion != 3 {
+		t.Fatalf("bad: %v", parts.RaftVersion)
+	}
 	m.Tags["bootstrap"] = "1"
 	m.Tags["disabled"] = "1"
 	ok, parts = agent.IsConsulServer(m)
diff --git a/consul/config.go b/consul/config.go
index e07500f5c..01d80711e 100644
--- a/consul/config.go
+++ b/consul/config.go
@@ -275,9 +275,9 @@ type Config struct {
 	// place, and a small jitter is applied to avoid a thundering herd.
 	RPCHoldTimeout time.Duration
 
-	// AutopilotServerCleanup controls whether to remove dead servers when a new
+	// DeadServerCleanup controls whether to remove dead servers when a new
 	// server is added to the Raft peers
-	AutopilotServerCleanup bool
+	DeadServerCleanup bool
 }
 
 // CheckVersion is used to check if the ProtocolVersion is valid
@@ -351,7 +351,7 @@ func DefaultConfig() *Config {
 
 		TLSMinVersion: "tls10",
 
-		AutopilotServerCleanup: true,
+		DeadServerCleanup: true,
 	}
 
 	// Increase our reap interval to 3 days instead of 24h.
@@ -368,7 +368,7 @@ func DefaultConfig() *Config {
 
 	// Enable interoperability with unversioned Raft library, and don't
 	// start using new ID-based features yet.
-	conf.RaftConfig.ProtocolVersion = 1
+	conf.RaftConfig.ProtocolVersion = 2
 	conf.ScaleRaft(DefaultRaftMultiplier)
 
 	// Disable shutdown on removal
diff --git a/consul/leader.go b/consul/leader.go
index fc0a32bf2..8197a5e0f 100644
--- a/consul/leader.go
+++ b/consul/leader.go
@@ -562,21 +562,32 @@ func (s *Server) joinConsulServer(m serf.Member, parts *agent.Server) error {
 	}
 
 	// Attempt to add as a peer
-	addFuture := s.raft.AddPeer(raft.ServerAddress(addr))
-	if err := addFuture.Error(); err != nil {
-		s.logger.Printf("[ERR] consul: failed to add raft peer: %v", err)
+	minRaftProtocol, err := ServerMinRaftProtocol(s.serfLAN.Members())
+	if err != nil {
 		return err
 	}
 
+	if minRaftProtocol >= 2 && parts.RaftVersion >= 3 {
+		addFuture := s.raft.AddVoter(raft.ServerID(parts.ID), raft.ServerAddress(addr), 0, 0)
+		if err := addFuture.Error(); err != nil {
+			s.logger.Printf("[ERR] consul: failed to add raft peer: %v", err)
+			return err
+		}
+	} else {
+		addFuture := s.raft.AddPeer(raft.ServerAddress(addr))
+		if err := addFuture.Error(); err != nil {
+			s.logger.Printf("[ERR] consul: failed to add raft peer: %v", err)
+			return err
+		}
+	}
+
 	// Look for dead servers to clean up
-	if s.config.AutopilotServerCleanup {
+	if s.config.DeadServerCleanup {
 		for _, member := range s.serfLAN.Members() {
 			valid, _ := agent.IsConsulServer(member)
 			if valid && member.Name != m.Name && member.Status == serf.StatusFailed {
-				if err := s.handleDeregisterMember("Removing failed server", member); err != nil {
-					return fmt.Errorf("[ERROR] consul: Couldn't deregister failed server (%s): %v", member.Name, err)
-				}
-				s.logger.Printf("[INFO] consul: Removed failed server: %v", member.Name)
+				s.logger.Printf("[INFO] consul: Attempting removal of failed server: %v", member.Name)
+				go s.serfLAN.RemoveFailedNode(member.Name)
 			}
 		}
 	}
@@ -597,21 +608,38 @@ func (s *Server) removeConsulServer(m serf.Member, port int) error {
 		s.logger.Printf("[ERR] consul: failed to get raft configuration: %v", err)
 		return err
 	}
-	for _, server := range configFuture.Configuration().Servers {
-		if server.Address == raft.ServerAddress(addr) {
-			goto REMOVE
-		}
-	}
-	return nil
 
-REMOVE:
-	// Attempt to remove as a peer.
-	future := s.raft.RemovePeer(raft.ServerAddress(addr))
-	if err := future.Error(); err != nil {
-		s.logger.Printf("[ERR] consul: failed to remove raft peer '%v': %v",
-			addr, err)
+	minRaftProtocol, err := ServerMinRaftProtocol(s.serfLAN.Members())
+	if err != nil {
 		return err
 	}
+
+	_, parts := agent.IsConsulServer(m)
+
+	// Pick which remove API to use based on how the server was added.
+	for _, server := range configFuture.Configuration().Servers {
+		// If we understand the new add/remove APIs and the server was added by ID, use the new remove API
+		if minRaftProtocol >= 2 && server.ID == raft.ServerID(parts.ID) {
+			s.logger.Printf("[INFO] consul: removing server via new api, %q %q", server.ID, server.Address)
+			future := s.raft.RemoveServer(raft.ServerID(parts.ID), 0, 0)
+			if err := future.Error(); err != nil {
+				s.logger.Printf("[ERR] consul: failed to remove raft peer '%v': %v",
+					addr, err)
+				return err
+			}
+			break
+		} else if server.Address == raft.ServerAddress(addr) {
+			// If not, use the old remove API
+			future := s.raft.RemovePeer(raft.ServerAddress(addr))
+			if err := future.Error(); err != nil {
+				s.logger.Printf("[ERR] consul: failed to remove raft peer '%v': %v",
+					addr, err)
+				return err
+			}
+			break
+		}
+	}
+
 	return nil
 }
 
diff --git a/consul/leader_test.go b/consul/leader_test.go
index b85acee05..053752122 100644
--- a/consul/leader_test.go
+++ b/consul/leader_test.go
@@ -624,15 +624,15 @@ func TestLeader_ReapTombstones(t *testing.T) {
 }
 
 func TestLeader_DeadServerCleanup(t *testing.T) {
-	dir1, s1 := testServerDCExpect(t, "dc1", 3)
+	dir1, s1 := testServerDCBootstrap(t, "dc1", true)
 	defer os.RemoveAll(dir1)
 	defer s1.Shutdown()
 
-	dir2, s2 := testServerDCExpect(t, "dc1", 3)
+	dir2, s2 := testServerDCBootstrap(t, "dc1", false)
 	defer os.RemoveAll(dir2)
 	defer s2.Shutdown()
 
-	dir3, s3 := testServerDCExpect(t, "dc1", 3)
+	dir3, s3 := testServerDCBootstrap(t, "dc1", false)
 	defer os.RemoveAll(dir3)
 	defer s3.Shutdown()
 
@@ -657,31 +657,32 @@ func TestLeader_DeadServerCleanup(t *testing.T) {
 		})
 	}
 
-	// Kill a non-leader server (s2 or s3, so s4 can still join s1)
-	var nonLeader *Server
-	var removedIndex int
-	for i, s := range servers {
-		if !s.IsLeader() && i > 0 {
-			nonLeader = s
-			removedIndex = i
-			break
-		}
-	}
-	nonLeader.Shutdown()
+	// Kill a non-leader server
+	s2.Shutdown()
 
-	time.Sleep(1 * time.Second)
+	testutil.WaitForResult(func() (bool, error) {
+		alive := 0
+		for _, m := range s1.LANMembers() {
+			if m.Status == serf.StatusAlive {
+				alive++
+			}
+		}
+		return alive == 2, nil
+	}, func(err error) {
+		t.Fatalf("should have 2 alive members")
+	})
 
 	// Bring up and join a new server
-	dir4, s4 := testServerDCExpect(t, "dc1", 3)
+	dir4, s4 := testServerDCBootstrap(t, "dc1", false)
 	defer os.RemoveAll(dir4)
 	defer s4.Shutdown()
 
 	if _, err := s4.JoinLAN([]string{addr}); err != nil {
 		t.Fatalf("err: %v", err)
 	}
+	servers[1] = s4
 
 	// Make sure the dead server is removed and we're back to 3 total peers
-	servers[removedIndex] = s4
 	for _, s := range servers {
 		testutil.WaitForResult(func() (bool, error) {
 			peers, _ := s.numPeers()
@@ -691,3 +692,92 @@ func TestLeader_DeadServerCleanup(t *testing.T) {
 		})
 	}
 }
+
+func TestLeader_RollRaftServer(t *testing.T) {
+	dir1, s1 := testServerWithConfig(t, func(c *Config) {
+		c.Bootstrap = true
+		c.Datacenter = "dc1"
+	})
+	defer os.RemoveAll(dir1)
+	defer s1.Shutdown()
+
+	dir2, s2 := testServerWithConfig(t, func(c *Config) {
+		c.Bootstrap = false
+		c.Datacenter = "dc1"
+		c.RaftConfig.ProtocolVersion = 1
+	})
+	defer os.RemoveAll(dir2)
+	defer s2.Shutdown()
+
+	dir3, s3 := testServerDCBootstrap(t, "dc1", false)
+	defer os.RemoveAll(dir3)
+	defer s3.Shutdown()
+
+	servers := []*Server{s1, s2, s3}
+
+	// Try to join
+	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)
+	}
+
+	for _, s := range servers {
+		testutil.WaitForResult(func() (bool, error) {
+			peers, _ := s.numPeers()
+			return peers == 3, nil
+		}, func(err error) {
+			t.Fatalf("should have 3 peers")
+		})
+	}
+
+	// Kill the v1 server
+	s2.Shutdown()
+
+	for _, s := range []*Server{s1, s3} {
+		testutil.WaitForResult(func() (bool, error) {
+			minVer, err := ServerMinRaftProtocol(s.LANMembers())
+			return minVer == 2, err
+		}, func(err error) {
+			t.Fatalf("minimum protocol version among servers should be 2")
+		})
+	}
+
+	// Replace the dead server with one running raft protocol v3
+	dir4, s4 := testServerWithConfig(t, func(c *Config) {
+		c.Bootstrap = false
+		c.Datacenter = "dc1"
+		c.RaftConfig.ProtocolVersion = 3
+	})
+	defer os.RemoveAll(dir4)
+	defer s4.Shutdown()
+	if _, err := s4.JoinLAN([]string{addr}); err != nil {
+		t.Fatalf("err: %v", err)
+	}
+	servers[1] = s4
+
+	// Make sure the dead server is removed and we're back to 3 total peers
+	for _, s := range servers {
+		testutil.WaitForResult(func() (bool, error) {
+			addrs := 0
+			ids := 0
+			future := s.raft.GetConfiguration()
+			if err := future.Error(); err != nil {
+				return false, err
+			}
+			for _, server := range future.Configuration().Servers {
+				if string(server.ID) == string(server.Address) {
+					addrs++
+				} else {
+					ids++
+				}
+			}
+			return addrs == 2 && ids == 1, nil
+		}, func(err error) {
+			t.Fatalf("should see 2 legacy IDs and 1 GUID")
+		})
+	}
+}
\ No newline at end of file
diff --git a/consul/serf.go b/consul/serf.go
index 6306bd405..a9175c04f 100644
--- a/consul/serf.go
+++ b/consul/serf.go
@@ -280,11 +280,22 @@ func (s *Server) maybeBootstrap() {
 	// Attempt a live bootstrap!
 	var configuration raft.Configuration
 	var addrs []string
+	minRaftVersion, err := ServerMinRaftProtocol(members)
+	if err != nil {
+		s.logger.Printf("[ERR] consul: Failed to read server raft versions: %v", err)
+	}
+
 	for _, server := range servers {
 		addr := server.Addr.String()
 		addrs = append(addrs, addr)
+		var id raft.ServerID
+		if server.ID != "" && minRaftVersion >= 3 {
+			id = raft.ServerID(server.ID)
+		} else {
+			id = raft.ServerID(addr)
+		}
 		peer := raft.Server{
-			ID:      raft.ServerID(addr),
+			ID:      id,
 			Address: raft.ServerAddress(addr),
 		}
 		configuration.Servers = append(configuration.Servers, peer)
diff --git a/consul/server.go b/consul/server.go
index d58d0d4a4..410910bd5 100644
--- a/consul/server.go
+++ b/consul/server.go
@@ -379,9 +379,12 @@ func (s *Server) setupRaft() error {
 	// Make sure we set the LogOutput.
 	s.config.RaftConfig.LogOutput = s.config.LogOutput
 
-	// Our version of Raft protocol requires the LocalID to match the network
+	// Versions of the Raft protocol below 3 require the LocalID to match the network
 	// address of the transport.
 	s.config.RaftConfig.LocalID = raft.ServerID(trans.LocalAddr())
+	if s.config.RaftConfig.ProtocolVersion >= 3 {
+		s.config.RaftConfig.LocalID = raft.ServerID(s.config.NodeID)
+	}
 
 	// Build an all in-memory setup for dev mode, otherwise prepare a full
 	// disk-based setup.
@@ -479,7 +482,7 @@ func (s *Server) setupRaft() error {
 			configuration := raft.Configuration{
 				Servers: []raft.Server{
 					raft.Server{
-						ID:      raft.ServerID(trans.LocalAddr()),
+						ID:      s.config.RaftConfig.LocalID,
 						Address: trans.LocalAddr(),
 					},
 				},
diff --git a/consul/server_test.go b/consul/server_test.go
index a3805dfff..72bf3bf6f 100644
--- a/consul/server_test.go
+++ b/consul/server_test.go
@@ -12,6 +12,8 @@ import (
 	"time"
 
 	"github.com/hashicorp/consul/testutil"
+	"github.com/hashicorp/go-uuid"
+	"github.com/hashicorp/consul/types"
 )
 
 var nextPort int32 = 15000
@@ -46,6 +48,11 @@ func testServerConfig(t *testing.T, NodeName string) (string, *Config) {
 		IP:   []byte{127, 0, 0, 1},
 		Port: getPort(),
 	}
+	nodeID, err := uuid.GenerateUUID()
+	if err != nil {
+		t.Fatal(err)
+	}
+	config.NodeID = types.NodeID(nodeID)
 	config.SerfLANConfig.MemberlistConfig.BindAddr = "127.0.0.1"
 	config.SerfLANConfig.MemberlistConfig.BindPort = getPort()
 	config.SerfLANConfig.MemberlistConfig.SuspicionMult = 2
diff --git a/consul/util.go b/consul/util.go
index b0000a199..0f5f33b21 100644
--- a/consul/util.go
+++ b/consul/util.go
@@ -91,6 +91,30 @@ func CanServersUnderstandProtocol(members []serf.Member, version uint8) (bool, e
 	return (numServers > 0) && (numWhoGrok == numServers), nil
 }
 
+// ServerMinRaftProtocol returns the lowest supported Raft protocol among alive servers
+func ServerMinRaftProtocol(members []serf.Member) (int, error) {
+	minVersion := -1
+	for _, m := range members {
+		if m.Tags["role"] != "consul" || m.Status != serf.StatusAlive {
+			continue
+		}
+
+		vsn, ok := m.Tags["raft_vsn"]
+		if !ok {
+			vsn = "1"
+		}
+		raftVsn, err := strconv.Atoi(vsn)
+		if err != nil {
+			return -1, err
+		}
+
+		if minVersion == -1 || raftVsn < minVersion {
+			minVersion = raftVsn
+		}
+	}
+	return minVersion, nil
+}
+
 // Returns if a member is a consul node. Returns a bool,
 // and the datacenter.
 func isConsulNode(m serf.Member) (bool, string) {