diff --git a/.words b/.words
index 0098377ea39..1d2d376fe58 100644
--- a/.words
+++ b/.words
@@ -35,6 +35,7 @@ mutex
 prefetching
 protobuf
 prometheus
+rafthttp
 repin
 rpc
 serializable
diff --git a/clientv3/cluster.go b/clientv3/cluster.go
index e472e62c7a0..785672be8ca 100644
--- a/clientv3/cluster.go
+++ b/clientv3/cluster.go
@@ -18,6 +18,7 @@ import (
 	"context"
 
 	pb "github.com/coreos/etcd/etcdserver/etcdserverpb"
+	"github.com/coreos/etcd/pkg/types"
 
 	"google.golang.org/grpc"
 )
@@ -66,6 +67,11 @@ func NewClusterFromClusterClient(remote pb.ClusterClient, c *Client) Cluster {
 }
 
 func (c *cluster) MemberAdd(ctx context.Context, peerAddrs []string) (*MemberAddResponse, error) {
+	// fail-fast before panic in rafthttp
+	if _, err := types.NewURLs(peerAddrs); err != nil {
+		return nil, err
+	}
+
 	r := &pb.MemberAddRequest{PeerURLs: peerAddrs}
 	resp, err := c.remote.MemberAdd(ctx, r, c.callOpts...)
 	if err != nil {
@@ -84,6 +90,11 @@ func (c *cluster) MemberRemove(ctx context.Context, id uint64) (*MemberRemoveRes
 }
 
 func (c *cluster) MemberUpdate(ctx context.Context, id uint64, peerAddrs []string) (*MemberUpdateResponse, error) {
+	// fail-fast before panic in rafthttp
+	if _, err := types.NewURLs(peerAddrs); err != nil {
+		return nil, err
+	}
+
 	// it is safe to retry on update.
 	r := &pb.MemberUpdateRequest{ID: id, PeerURLs: peerAddrs}
 	resp, err := c.remote.MemberUpdate(ctx, r, c.callOpts...)
diff --git a/clientv3/integration/cluster_test.go b/clientv3/integration/cluster_test.go
index 6abe0c51362..4a81b89c871 100644
--- a/clientv3/integration/cluster_test.go
+++ b/clientv3/integration/cluster_test.go
@@ -126,3 +126,36 @@ func TestMemberUpdate(t *testing.T) {
 		t.Errorf("urls = %v, want %v", urls, resp.Members[0].PeerURLs)
 	}
 }
+
+func TestMemberAddUpdateWrongURLs(t *testing.T) {
+	defer testutil.AfterTest(t)
+
+	clus := integration.NewClusterV3(t, &integration.ClusterConfig{Size: 1})
+	defer clus.Terminate(t)
+
+	capi := clus.RandClient()
+	tt := [][]string{
+		// missing protocol scheme
+		{"://127.0.0.1:2379"},
+		// unsupported scheme
+		{"mailto://127.0.0.1:2379"},
+		// not conform to host:port
+		{"http://127.0.0.1"},
+		// contain a path
+		{"http://127.0.0.1:2379/path"},
+		// first path segment in URL cannot contain colon
+		{"127.0.0.1:1234"},
+		// URL scheme must be http, https, unix, or unixs
+		{"localhost:1234"},
+	}
+	for i := range tt {
+		_, err := capi.MemberAdd(context.Background(), tt[i])
+		if err == nil {
+			t.Errorf("#%d: MemberAdd err = nil, but error", i)
+		}
+		_, err = capi.MemberUpdate(context.Background(), 0, tt[i])
+		if err == nil {
+			t.Errorf("#%d: MemberUpdate err = nil, but error", i)
+		}
+	}
+}