diff --git a/CHANGELOG-3.6.md b/CHANGELOG-3.6.md
index 8d0591cfd6c..80d054002ce 100644
--- a/CHANGELOG-3.6.md
+++ b/CHANGELOG-3.6.md
@@ -11,6 +11,7 @@ See [code changes](https://github.com/etcd-io/etcd/compare/v3.5.0...v3.6.0).
 ### Breaking Changes
 
 - `etcd` will no longer start on data dir created by newer versions (for example etcd v3.6 will not run on v3.7+ data dir). To downgrade data dir please check out `etcdutl migrate` command.
+- `etcd` doesn't support serving client requests on the peer listen endpoints (--listen-peer-urls). See [pull/13565](https://github.com/etcd-io/etcd/pull/13565).
 
 ### etcdctl v3
 
diff --git a/server/embed/etcd.go b/server/embed/etcd.go
index 70484277016..633e4a6d49d 100644
--- a/server/embed/etcd.go
+++ b/server/embed/etcd.go
@@ -16,7 +16,6 @@ package embed
 
 import (
 	"context"
-	"crypto/tls"
 	"fmt"
 	"io"
 	defaultLog "log"
@@ -38,7 +37,6 @@ import (
 	"go.etcd.io/etcd/server/v3/etcdserver"
 	"go.etcd.io/etcd/server/v3/etcdserver/api/etcdhttp"
 	"go.etcd.io/etcd/server/v3/etcdserver/api/rafthttp"
-	"go.etcd.io/etcd/server/v3/etcdserver/api/v3rpc"
 	"go.etcd.io/etcd/server/v3/storage"
 	"go.etcd.io/etcd/server/v3/verify"
 
@@ -530,20 +528,12 @@ func configurePeerListeners(cfg *Config) (peers []*peerListener, err error) {
 // configure peer handlers after rafthttp.Transport started
 func (e *Etcd) servePeers() (err error) {
 	ph := etcdhttp.NewPeerHandler(e.GetLogger(), e.Server)
-	var peerTLScfg *tls.Config
-	if !e.cfg.PeerTLSInfo.Empty() {
-		if peerTLScfg, err = e.cfg.PeerTLSInfo.ServerConfig(); err != nil {
-			return err
-		}
-	}
 
 	for _, p := range e.Peers {
 		u := p.Listener.Addr().String()
-		gs := v3rpc.Server(e.Server, peerTLScfg, nil)
 		m := cmux.New(p.Listener)
-		go gs.Serve(m.Match(cmux.HTTP2()))
 		srv := &http.Server{
-			Handler:     grpcHandlerFunc(gs, ph),
+			Handler:     ph,
 			ReadTimeout: 5 * time.Minute,
 			ErrorLog:    defaultLog.New(io.Discard, "", 0), // do not log user error
 		}
@@ -563,7 +553,7 @@ func (e *Etcd) servePeers() (err error) {
 				"stopping serving peer traffic",
 				zap.String("address", u),
 			)
-			stopServers(ctx, &servers{secure: peerTLScfg != nil, grpc: gs, http: srv})
+			srv.Shutdown(ctx)
 			e.cfg.logger.Info(
 				"stopped serving peer traffic",
 				zap.String("address", u),
diff --git a/tests/framework/integration/cluster.go b/tests/framework/integration/cluster.go
index f7fc08677f8..1dc9306ad24 100644
--- a/tests/framework/integration/cluster.go
+++ b/tests/framework/integration/cluster.go
@@ -545,7 +545,6 @@ type Member struct {
 
 	GrpcServerOpts []grpc.ServerOption
 	GrpcServer     *grpc.Server
-	GrpcServerPeer *grpc.Server
 	GrpcURL        string
 	GrpcBridge     *bridge
 
@@ -922,7 +921,6 @@ func (m *Member) Launch() error {
 			}
 		}
 		m.GrpcServer = v3rpc.Server(m.Server, tlscfg, m.GrpcServerRecorder.UnaryInterceptor(), m.GrpcServerOpts...)
-		m.GrpcServerPeer = v3rpc.Server(m.Server, peerTLScfg, m.GrpcServerRecorder.UnaryInterceptor())
 		m.ServerClient = v3client.New(m.Server)
 		lockpb.RegisterLockServer(m.GrpcServer, v3lock.NewLockServer(m.ServerClient))
 		epb.RegisterElectionServer(m.GrpcServer, v3election.NewElectionServer(m.ServerClient))
@@ -934,11 +932,7 @@ func (m *Member) Launch() error {
 	h := (http.Handler)(m.RaftHandler)
 	if m.GrpcListener != nil {
 		h = http.HandlerFunc(func(w http.ResponseWriter, r *http.Request) {
-			if r.ProtoMajor == 2 && strings.Contains(r.Header.Get("Content-Type"), "application/grpc") {
-				m.GrpcServerPeer.ServeHTTP(w, r)
-			} else {
-				m.RaftHandler.ServeHTTP(w, r)
-			}
+			m.RaftHandler.ServeHTTP(w, r)
 		})
 	}
 
@@ -947,11 +941,6 @@ func (m *Member) Launch() error {
 		// don't hang on matcher after closing listener
 		cm.SetReadTimeout(time.Second)
 
-		if m.GrpcServer != nil {
-			grpcl := cm.Match(cmux.HTTP2())
-			go m.GrpcServerPeer.Serve(grpcl)
-		}
-
 		// serve http1/http2 rafthttp/grpc
 		ll := cm.Match(cmux.Any())
 		if peerTLScfg != nil {
@@ -1146,9 +1135,6 @@ func (m *Member) Close() {
 			<-ch
 		}
 		m.GrpcServer = nil
-		m.GrpcServerPeer.GracefulStop()
-		m.GrpcServerPeer.Stop()
-		m.GrpcServerPeer = nil
 	}
 	if m.Server != nil {
 		m.Server.HardStop()