diff --git a/core/src/main/scala/org/apache/spark/deploy/master/Master.scala b/core/src/main/scala/org/apache/spark/deploy/master/Master.scala
index 2a66fcfe4801c..61d37780fced8 100644
--- a/core/src/main/scala/org/apache/spark/deploy/master/Master.scala
+++ b/core/src/main/scala/org/apache/spark/deploy/master/Master.scala
@@ -481,13 +481,25 @@ private[spark] class Master(
     if (state != RecoveryState.ALIVE) { return }
 
     // First schedule drivers, they take strict precedence over applications
-    val shuffledWorkers = Random.shuffle(workers) // Randomization helps balance drivers
-    for (worker <- shuffledWorkers if worker.state == WorkerState.ALIVE) {
-      for (driver <- List(waitingDrivers: _*)) { // iterate over a copy of waitingDrivers
+    // Randomization helps balance drivers
+    val shuffledAliveWorkers = Random.shuffle(workers.toSeq.filter(_.state == WorkerState.ALIVE))
+    val aliveWorkerNum = shuffledAliveWorkers.size
+    var curPos = 0
+    for (driver <- waitingDrivers.toList) { // iterate over a copy of waitingDrivers
+      // We assign workers to each waiting driver in a round-robin fashion. For each driver, we
+      // start from the last worker that was assigned a driver, and continue onwards until we have
+      // explored all alive workers.
+      curPos = (curPos + 1) % aliveWorkerNum
+      val startPos = curPos
+      var launched = false
+      while (curPos != startPos && !launched) {
+        val worker = shuffledAliveWorkers(curPos)
         if (worker.memoryFree >= driver.desc.mem && worker.coresFree >= driver.desc.cores) {
           launchDriver(worker, driver)
           waitingDrivers -= driver
+          launched = true
         }
+        curPos = (curPos + 1) % aliveWorkerNum
       }
     }