diff --git a/errno/errcode.go b/errno/errcode.go
index 1651494fd9a2a..f4c3fdba2cd2b 100644
--- a/errno/errcode.go
+++ b/errno/errcode.go
@@ -1081,4 +1081,5 @@ const (
 	ErrWriteConflict          = 9007
 	ErrTiKVStoreLimit         = 9008
 	ErrPrometheusAddrIsNotSet = 9009
+	ErrTiKVStaleCommand       = 9010
 )
diff --git a/errno/errname.go b/errno/errname.go
index e04b43cf57efb..ad66df9267354 100644
--- a/errno/errname.go
+++ b/errno/errname.go
@@ -1078,4 +1078,5 @@ var MySQLErrName = map[uint16]string{
 	ErrWriteConflict:          "Write conflict, txnStartTS=%d, conflictStartTS=%d, conflictCommitTS=%d, key=%s",
 	ErrTiKVStoreLimit:         "Store token is up to the limit, store id = %d",
 	ErrPrometheusAddrIsNotSet: "Prometheus address is not set in PD and etcd",
+	ErrTiKVStaleCommand:       "TiKV server reports stale command",
 }
diff --git a/store/tikv/backoff.go b/store/tikv/backoff.go
index 55c9165d7e59a..48c993bdc58b0 100644
--- a/store/tikv/backoff.go
+++ b/store/tikv/backoff.go
@@ -51,6 +51,7 @@ var (
 	tikvBackoffHistogramRegionMiss   = metrics.TiKVBackoffHistogram.WithLabelValues("regionMiss")
 	tikvBackoffHistogramUpdateLeader = metrics.TiKVBackoffHistogram.WithLabelValues("updateLeader")
 	tikvBackoffHistogramServerBusy   = metrics.TiKVBackoffHistogram.WithLabelValues("serverBusy")
+	tikvBackoffHistogramStaleCmd     = metrics.TiKVBackoffHistogram.WithLabelValues("staleCommand")
 	tikvBackoffHistogramEmpty        = metrics.TiKVBackoffHistogram.WithLabelValues("")
 )
 
@@ -70,6 +71,8 @@ func (t backoffType) metric() prometheus.Observer {
 		return tikvBackoffHistogramUpdateLeader
 	case boServerBusy:
 		return tikvBackoffHistogramServerBusy
+	case boStaleCmd:
+		return tikvBackoffHistogramStaleCmd
 	}
 	return tikvBackoffHistogramEmpty
 }
@@ -134,6 +137,7 @@ const (
 	BoUpdateLeader
 	boServerBusy
 	boTxnNotFound
+	boStaleCmd
 )
 
 func (t backoffType) createFn(vars *kv.Variables) func(context.Context, int) int {
@@ -158,6 +162,8 @@ func (t backoffType) createFn(vars *kv.Variables) func(context.Context, int) int
 		return NewBackoffFn(1, 10, NoJitter)
 	case boServerBusy:
 		return NewBackoffFn(2000, 10000, EqualJitter)
+	case boStaleCmd:
+		return NewBackoffFn(2, 1000, NoJitter)
 	}
 	return nil
 }
@@ -178,6 +184,8 @@ func (t backoffType) String() string {
 		return "updateLeader"
 	case boServerBusy:
 		return "serverBusy"
+	case boStaleCmd:
+		return "staleCommand"
 	case boTxnNotFound:
 		return "txnNotFound"
 	}
@@ -196,6 +204,8 @@ func (t backoffType) TError() error {
 		return ErrRegionUnavailable
 	case boServerBusy:
 		return ErrTiKVServerBusy
+	case boStaleCmd:
+		return ErrTiKVStaleCommand
 	}
 	return ErrUnknown
 }
diff --git a/store/tikv/error.go b/store/tikv/error.go
index cc5c87acc0c35..b135614321801 100644
--- a/store/tikv/error.go
+++ b/store/tikv/error.go
@@ -37,6 +37,7 @@ var (
 	ErrPDServerTimeout             = terror.ClassTiKV.New(mysql.ErrPDServerTimeout, mysql.MySQLErrName[mysql.ErrPDServerTimeout])
 	ErrRegionUnavailable           = terror.ClassTiKV.New(mysql.ErrRegionUnavailable, mysql.MySQLErrName[mysql.ErrRegionUnavailable])
 	ErrTiKVServerBusy              = terror.ClassTiKV.New(mysql.ErrTiKVServerBusy, mysql.MySQLErrName[mysql.ErrTiKVServerBusy])
+	ErrTiKVStaleCommand            = terror.ClassTiKV.New(mysql.ErrTiKVStaleCommand, mysql.MySQLErrName[mysql.ErrTiKVStaleCommand])
 	ErrGCTooEarly                  = terror.ClassTiKV.New(mysql.ErrGCTooEarly, mysql.MySQLErrName[mysql.ErrGCTooEarly])
 	ErrQueryInterrupted            = terror.ClassTiKV.New(mysql.ErrQueryInterrupted, mysql.MySQLErrName[mysql.ErrQueryInterrupted])
 	ErrLockAcquireFailAndNoWaitSet = terror.ClassTiKV.New(mysql.ErrLockAcquireFailAndNoWaitSet, mysql.MySQLErrName[mysql.ErrLockAcquireFailAndNoWaitSet])
diff --git a/store/tikv/region_request.go b/store/tikv/region_request.go
index ac671683eb58b..568a641975e86 100644
--- a/store/tikv/region_request.go
+++ b/store/tikv/region_request.go
@@ -378,6 +378,10 @@ func (s *RegionRequestSender) onRegionError(bo *Backoffer, ctx *RPCContext, seed
 	}
 	if regionErr.GetStaleCommand() != nil {
 		logutil.BgLogger().Debug("tikv reports `StaleCommand`", zap.Stringer("ctx", ctx))
+		err = bo.Backoff(boStaleCmd, errors.Errorf("stale command, ctx: %v", ctx))
+		if err != nil {
+			return false, errors.Trace(err)
+		}
 		return true, nil
 	}
 	if regionErr.GetRaftEntryTooLarge() != nil {
diff --git a/store/tikv/region_request_test.go b/store/tikv/region_request_test.go
index e45b33cf57321..e20a4807931d7 100644
--- a/store/tikv/region_request_test.go
+++ b/store/tikv/region_request_test.go
@@ -23,6 +23,7 @@ import (
 	. "github.com/pingcap/check"
 	"github.com/pingcap/errors"
 	"github.com/pingcap/kvproto/pkg/coprocessor"
+	"github.com/pingcap/kvproto/pkg/errorpb"
 	"github.com/pingcap/kvproto/pkg/kvrpcpb"
 	"github.com/pingcap/kvproto/pkg/tikvpb"
 	"github.com/pingcap/tidb/config"
@@ -89,6 +90,47 @@ func (s *testStoreLimitSuite) TearDownTest(c *C) {
 	s.cache.Close()
 }
 
+type fnClient struct {
+	fn func(ctx context.Context, addr string, req *tikvrpc.Request, timeout time.Duration) (*tikvrpc.Response, error)
+}
+
+func (f *fnClient) Close() error {
+	return nil
+}
+
+func (f *fnClient) SendRequest(ctx context.Context, addr string, req *tikvrpc.Request, timeout time.Duration) (*tikvrpc.Response, error) {
+	return f.fn(ctx, addr, req, timeout)
+}
+
+func (s *testRegionRequestSuite) TestOnRegionError(c *C) {
+	req := tikvrpc.NewRequest(tikvrpc.CmdRawPut, &kvrpcpb.RawPutRequest{
+		Key:   []byte("key"),
+		Value: []byte("value"),
+	})
+	region, err := s.cache.LocateRegionByID(s.bo, s.region)
+	c.Assert(err, IsNil)
+	c.Assert(region, NotNil)
+
+	// test stale command retry.
+	func() {
+		oc := s.regionRequestSender.client
+		defer func() {
+			s.regionRequestSender.client = oc
+		}()
+		s.regionRequestSender.client = &fnClient{func(ctx context.Context, addr string, req *tikvrpc.Request, timeout time.Duration) (response *tikvrpc.Response, err error) {
+			staleResp := &tikvrpc.Response{Resp: &kvrpcpb.GetResponse{
+				RegionError: &errorpb.Error{StaleCommand: &errorpb.StaleCommand{}},
+			}}
+			return staleResp, nil
+		}}
+		bo := NewBackoffer(context.Background(), 5)
+		resp, err := s.regionRequestSender.SendReq(bo, req, region.Region, time.Second)
+		c.Assert(err, NotNil)
+		c.Assert(resp, IsNil)
+	}()
+
+}
+
 func (s *testStoreLimitSuite) TestStoreTokenLimit(c *C) {
 	req := tikvrpc.NewRequest(tikvrpc.CmdPrewrite, &kvrpcpb.PrewriteRequest{}, kvrpcpb.Context{})
 	region, err := s.cache.LocateRegionByID(s.bo, s.regionID)