diff --git a/pkg/etcd/etcd.go b/pkg/etcd/etcd.go
index 587801d8a7..8ec60d7cc9 100644
--- a/pkg/etcd/etcd.go
+++ b/pkg/etcd/etcd.go
@@ -50,6 +50,7 @@ import (
 
 const (
 	defaultEndpoint      = "https://127.0.0.1:2379"
+	defaultEndpointv6    = "https://[::1]:2379"
 	testTimeout          = time.Second * 10
 	manageTickerTime     = time.Second * 15
 	learnerMaxStallTime  = time.Minute * 5
@@ -150,7 +151,7 @@ func (e *ETCD) EndpointName() string {
 func (e *ETCD) SetControlConfig(ctx context.Context, config *config.Control) error {
 	e.config = config
 
-	client, err := GetClient(ctx, e.config.Runtime)
+	client, err := GetClient(ctx, e.config)
 	if err != nil {
 		return err
 	}
@@ -178,7 +179,7 @@ func (e *ETCD) Test(ctx context.Context) error {
 	ctx, cancel := context.WithTimeout(ctx, testTimeout)
 	defer cancel()
 
-	endpoints := getEndpoints(e.config.Runtime)
+	endpoints := getEndpoints(e.config)
 	status, err := e.client.Status(ctx, endpoints[0])
 	if err != nil {
 		return err
@@ -424,7 +425,7 @@ func (e *ETCD) join(ctx context.Context, clientAccessInfo *clientaccess.Info) er
 		return err
 	}
 
-	client, err := GetClient(clientCtx, e.config.Runtime, clientURLs...)
+	client, err := GetClient(clientCtx, e.config, clientURLs...)
 	if err != nil {
 		return err
 	}
@@ -501,7 +502,7 @@ func (e *ETCD) join(ctx context.Context, clientAccessInfo *clientaccess.Info) er
 func (e *ETCD) Register(ctx context.Context, config *config.Control, handler http.Handler) (http.Handler, error) {
 	e.config = config
 
-	client, err := GetClient(ctx, e.config.Runtime)
+	client, err := GetClient(ctx, e.config)
 	if err != nil {
 		return nil, err
 	}
@@ -518,7 +519,7 @@ func (e *ETCD) Register(ctx context.Context, config *config.Control, handler htt
 	}
 	e.address = address
 
-	endpoints := getEndpoints(config.Runtime)
+	endpoints := getEndpoints(config)
 	e.config.Datastore.Endpoint = endpoints[0]
 	e.config.Datastore.BackendTLSConfig.CAFile = e.config.Runtime.ETCDServerCA
 	e.config.Datastore.BackendTLSConfig.CertFile = e.config.Runtime.ClientETCDCert
@@ -609,8 +610,8 @@ func (e *ETCD) infoHandler() http.Handler {
 // If the runtime config does not list any endpoints, the default endpoint is used.
 // The returned client should be closed when no longer needed, in order to avoid leaking GRPC
 // client goroutines.
-func GetClient(ctx context.Context, runtime *config.ControlRuntime, endpoints ...string) (*clientv3.Client, error) {
-	cfg, err := getClientConfig(ctx, runtime, endpoints...)
+func GetClient(ctx context.Context, control *config.Control, endpoints ...string) (*clientv3.Client, error) {
+	cfg, err := getClientConfig(ctx, control, endpoints...)
 	if err != nil {
 		return nil, err
 	}
@@ -620,9 +621,10 @@ func GetClient(ctx context.Context, runtime *config.ControlRuntime, endpoints ..
 
 // getClientConfig generates an etcd client config connected to the specified endpoints.
 // If no endpoints are provided, getEndpoints is called to provide defaults.
-func getClientConfig(ctx context.Context, runtime *config.ControlRuntime, endpoints ...string) (*clientv3.Config, error) {
+func getClientConfig(ctx context.Context, control *config.Control, endpoints ...string) (*clientv3.Config, error) {
+	runtime := control.Runtime
 	if len(endpoints) == 0 {
-		endpoints = getEndpoints(runtime)
+		endpoints = getEndpoints(control)
 	}
 
 	config := &clientv3.Config{
@@ -641,10 +643,14 @@ func getClientConfig(ctx context.Context, runtime *config.ControlRuntime, endpoi
 }
 
 // getEndpoints returns the endpoints from the runtime config if set, otherwise the default endpoint.
-func getEndpoints(runtime *config.ControlRuntime) []string {
+func getEndpoints(control *config.Control) []string {
+	runtime := control.Runtime
 	if len(runtime.EtcdConfig.Endpoints) > 0 {
 		return runtime.EtcdConfig.Endpoints
 	}
+	if utilsnet.IsIPv6String(control.PrivateIP) {
+		return []string{defaultEndpointv6}
+	}
 	return []string{defaultEndpoint}
 }
 
@@ -730,7 +736,7 @@ func (e *ETCD) migrateFromSQLite(ctx context.Context) error {
 	}
 	defer sqliteClient.Close()
 
-	etcdClient, err := GetClient(ctx, e.config.Runtime)
+	etcdClient, err := GetClient(ctx, e.config)
 	if err != nil {
 		return err
 	}
@@ -827,7 +833,7 @@ func (e *ETCD) StartEmbeddedTemporary(ctx context.Context) error {
 		return err
 	}
 
-	endpoints := getEndpoints(e.config.Runtime)
+	endpoints := getEndpoints(e.config)
 	clientURL := endpoints[0]
 	peerURL, err := addPort(endpoints[0], 1)
 	if err != nil {
@@ -915,7 +921,7 @@ func (e *ETCD) manageLearners(ctx context.Context) {
 			logrus.Debug("Etcd client was nil")
 			continue
 		}
-		endpoints := getEndpoints(e.config.Runtime)
+		endpoints := getEndpoints(e.config)
 		if status, err := e.client.Status(ctx, endpoints[0]); err != nil {
 			logrus.Errorf("Failed to check local etcd status for learner management: %v", err)
 			continue
@@ -1071,7 +1077,7 @@ func (e *ETCD) defragment(ctx context.Context) error {
 	}
 
 	logrus.Infof("Defragmenting etcd database")
-	endpoints := getEndpoints(e.config.Runtime)
+	endpoints := getEndpoints(e.config)
 	_, err := e.client.Defragment(ctx, endpoints[0])
 	return err
 }
@@ -1144,7 +1150,7 @@ func (e *ETCD) preSnapshotSetup(ctx context.Context, config *config.Control) err
 		if e.config == nil {
 			e.config = config
 		}
-		client, err := GetClient(ctx, e.config.Runtime)
+		client, err := GetClient(ctx, e.config)
 		if err != nil {
 			return err
 		}
@@ -1272,7 +1278,7 @@ func (e *ETCD) Snapshot(ctx context.Context, config *config.Control) error {
 		}
 	}
 
-	endpoints := getEndpoints(e.config.Runtime)
+	endpoints := getEndpoints(e.config)
 	status, err := e.client.Status(ctx, endpoints[0])
 	if err != nil {
 		return errors.Wrap(err, "failed to check etcd status for snapshot")
@@ -1288,7 +1294,7 @@ func (e *ETCD) Snapshot(ctx context.Context, config *config.Control) error {
 		return errors.Wrap(err, "failed to get the snapshot dir")
 	}
 
-	cfg, err := getClientConfig(ctx, e.config.Runtime)
+	cfg, err := getClientConfig(ctx, e.config)
 	if err != nil {
 		return errors.Wrap(err, "failed to get config for etcd snapshot")
 	}
@@ -2013,7 +2019,7 @@ func backupDirWithRetention(dir string, maxBackupRetention int) (string, error)
 // GetAPIServerURLsFromETCD will try to fetch the version.Program/apiaddresses key from etcd
 // and unmarshal it to a list of apiserver endpoints.
 func GetAPIServerURLsFromETCD(ctx context.Context, cfg *config.Control) ([]string, error) {
-	cl, err := GetClient(ctx, cfg.Runtime)
+	cl, err := GetClient(ctx, cfg)
 	if err != nil {
 		return nil, err
 	}
diff --git a/pkg/etcd/etcd_test.go b/pkg/etcd/etcd_test.go
index cff23e2f9e..0e7094e012 100644
--- a/pkg/etcd/etcd_test.go
+++ b/pkg/etcd/etcd_test.go
@@ -244,7 +244,7 @@ func Test_UnitETCD_Start(t *testing.T) {
 				ctxInfo.ctx, ctxInfo.cancel = context.WithCancel(context.Background())
 				e.config.EtcdDisableSnapshots = true
 				testutil.GenerateRuntime(e.config)
-				client, err := GetClient(ctxInfo.ctx, e.config.Runtime)
+				client, err := GetClient(ctxInfo.ctx, e.config)
 				e.client = client
 
 				return err
@@ -275,7 +275,7 @@ func Test_UnitETCD_Start(t *testing.T) {
 			setup: func(e *ETCD, ctxInfo *contextInfo) error {
 				ctxInfo.ctx, ctxInfo.cancel = context.WithCancel(context.Background())
 				testutil.GenerateRuntime(e.config)
-				client, err := GetClient(ctxInfo.ctx, e.config.Runtime)
+				client, err := GetClient(ctxInfo.ctx, e.config)
 				e.client = client
 
 				return err
@@ -308,7 +308,7 @@ func Test_UnitETCD_Start(t *testing.T) {
 				if err := testutil.GenerateRuntime(e.config); err != nil {
 					return err
 				}
-				client, err := GetClient(ctxInfo.ctx, e.config.Runtime)
+				client, err := GetClient(ctxInfo.ctx, e.config)
 				if err != nil {
 					return err
 				}