diff --git a/node/node.go b/node/node.go
index 24905c128e..12b69fc2fa 100644
--- a/node/node.go
+++ b/node/node.go
@@ -527,6 +527,12 @@ func (n *Node) stopRPC() {
 	n.ws.stop()
 	n.httpAuth.stop()
 	n.wsAuth.stop()
+
+	n.http.wait()
+	n.ws.wait()
+	n.httpAuth.wait()
+	n.wsAuth.wait()
+
 	n.ipc.stop()
 	n.stopInProc()
 }
diff --git a/node/rpcstack.go b/node/rpcstack.go
index 6d3828ec2b..39997a6164 100644
--- a/node/rpcstack.go
+++ b/node/rpcstack.go
@@ -70,12 +70,13 @@ type httpServer struct {
 	timeouts rpc.HTTPTimeouts
 	mux      http.ServeMux // registered handlers go here
 
-	mu       sync.Mutex
-	server   *http.Server
-	listener net.Listener // non-nil when server is running
+	mu         sync.Mutex
+	server     *http.Server
+	listener   net.Listener // non-nil when server is running
+	ready      bool
+	shutdownWG sync.WaitGroup // WG to wait for shutdown
 
 	// HTTP RPC handler things.
-
 	httpConfig  httpConfig
 	httpHandler atomic.Value // *rpcHandler
 
@@ -93,6 +94,9 @@ type httpServer struct {
 
 const (
 	shutdownTimeout = 5 * time.Second
+	// give pending requests stopPendingRequestTimeout the time to finish when the server is stopped
+	// if readiness probe period is 5 seconds, this is enough time for health check to be triggered
+	stopPendingRequestTimeout = 7 * time.Second
 )
 
 func newHTTPServer(log log.Logger, timeouts rpc.HTTPTimeouts) *httpServer {
@@ -167,6 +171,7 @@ func (h *httpServer) start() error {
 		}
 		h.log.Info("WebSocket enabled", "url", url)
 	}
+	h.ready = true
 	// if server is websocket only, return after logging
 	if !h.rpcAllowed() {
 		return nil
@@ -197,6 +202,22 @@ func (h *httpServer) start() error {
 }
 
 func (h *httpServer) ServeHTTP(w http.ResponseWriter, r *http.Request) {
+	// server health probe endpoints
+	if r.Method == http.MethodGet {
+		// readiness probe fails during shutdown
+		if r.URL.Path == "/readyz" {
+			if h.ready {
+				w.WriteHeader(http.StatusNoContent)
+			} else {
+				w.WriteHeader(http.StatusServiceUnavailable)
+			}
+			return
+			// liveness probe always succeeds
+		} else if r.URL.Path == "/livez" {
+			w.WriteHeader(http.StatusNoContent)
+			return
+		}
+	}
 	// check if ws request and serve if ws enabled
 	ws := h.wsHandler.Load().(*rpcHandler)
 	if ws != nil && isWebsocket(r) {
@@ -257,8 +278,20 @@ func validatePrefix(what, path string) error {
 // stop shuts down the HTTP server.
 func (h *httpServer) stop() {
 	h.mu.Lock()
-	defer h.mu.Unlock()
-	h.doStop()
+	// unit test executes stop multiple times, so we cannot increment the WG in the start method
+	h.shutdownWG = sync.WaitGroup{}
+	h.shutdownWG.Add(1)
+	h.ready = false
+	time.AfterFunc(stopPendingRequestTimeout, func() {
+		defer h.mu.Unlock()
+		h.doStop()
+		h.shutdownWG.Done()
+	})
+}
+
+// wait waits for the server to shutdown.
+func (h *httpServer) wait() {
+	h.shutdownWG.Wait()
 }
 
 func (h *httpServer) doStop() {