diff --git a/apm-sniffer/apm-agent-core/src/main/java/org/apache/skywalking/apm/agent/core/conf/Config.java b/apm-sniffer/apm-agent-core/src/main/java/org/apache/skywalking/apm/agent/core/conf/Config.java
index 87cf57955b..f36b5dd8a0 100755
--- a/apm-sniffer/apm-agent-core/src/main/java/org/apache/skywalking/apm/agent/core/conf/Config.java
+++ b/apm-sniffer/apm-agent-core/src/main/java/org/apache/skywalking/apm/agent/core/conf/Config.java
@@ -210,6 +210,20 @@ public static class Collector {
          * How long grpc client will timeout in sending data to upstream.
          */
         public static int GRPC_UPSTREAM_TIMEOUT = 30;
+        /**
+         * The interval in seconds to send a keepalive ping to the backend.
+         * If this is less than or equal to 0, the keepalive is disabled.
+         *
+         * This maps to `collector.grpc_keepalive_time` in agent.config.
+         */
+        public static long GRPC_KEEPALIVE_TIME = 60L;
+        /**
+         * The timeout in seconds to wait for a keepalive ack from the backend.
+         * If the ack is not received within this time, the connection is considered dead.
+         *
+         * This maps to `collector.grpc_keepalive_timeout` in agent.config.
+         */
+        public static long GRPC_KEEPALIVE_TIMEOUT = 30L;
         /**
          * Get profile task list interval
          */
diff --git a/apm-sniffer/apm-agent-core/src/main/java/org/apache/skywalking/apm/agent/core/remote/GRPCChannel.java b/apm-sniffer/apm-agent-core/src/main/java/org/apache/skywalking/apm/agent/core/remote/GRPCChannel.java
index d7806ad674..aee4c33e95 100755
--- a/apm-sniffer/apm-agent-core/src/main/java/org/apache/skywalking/apm/agent/core/remote/GRPCChannel.java
+++ b/apm-sniffer/apm-agent-core/src/main/java/org/apache/skywalking/apm/agent/core/remote/GRPCChannel.java
@@ -27,6 +27,8 @@
 import io.grpc.netty.NettyChannelBuilder;
 import java.util.LinkedList;
 import java.util.List;
+import java.util.concurrent.TimeUnit;
+import org.apache.skywalking.apm.agent.core.conf.Config;
 
 public class GRPCChannel {
     /**
@@ -39,6 +41,11 @@ private GRPCChannel(String host, int port, List<ChannelBuilder> channelBuilders,
                         List<ChannelDecorator> decorators) throws Exception {
         ManagedChannelBuilder channelBuilder = NettyChannelBuilder.forAddress(host, port);
 
+        if (Config.Collector.GRPC_KEEPALIVE_TIME > 0) {
+            channelBuilder.keepAliveTime(Config.Collector.GRPC_KEEPALIVE_TIME, TimeUnit.SECONDS)
+                          .keepAliveTimeout(Config.Collector.GRPC_KEEPALIVE_TIMEOUT, TimeUnit.SECONDS);
+        }
+
         NameResolverRegistry.getDefaultRegistry().register(new DnsNameResolverProvider());
 
         for (ChannelBuilder builder : channelBuilders) {
diff --git a/apm-sniffer/apm-agent-core/src/main/java/org/apache/skywalking/apm/agent/core/remote/GRPCChannelManager.java b/apm-sniffer/apm-agent-core/src/main/java/org/apache/skywalking/apm/agent/core/remote/GRPCChannelManager.java
index 9744398fd1..f3f3755743 100755
--- a/apm-sniffer/apm-agent-core/src/main/java/org/apache/skywalking/apm/agent/core/remote/GRPCChannelManager.java
+++ b/apm-sniffer/apm-agent-core/src/main/java/org/apache/skywalking/apm/agent/core/remote/GRPCChannelManager.java
@@ -130,34 +130,27 @@ public void run() {
                 String server = "";
                 try {
                     int index = Math.abs(random.nextInt()) % grpcServers.size();
-                    if (index != selectedIdx) {
-                        selectedIdx = index;
+                    selectedIdx = index;
 
-                        server = grpcServers.get(index);
-                        String[] ipAndPort = server.split(":");
+                    server = grpcServers.get(index);
+                    String[] ipAndPort = server.split(":");
 
-                        if (managedChannel != null) {
-                            managedChannel.shutdownNow();
-                        }
-
-                        managedChannel = GRPCChannel.newBuilder(ipAndPort[0], Integer.parseInt(ipAndPort[1]))
-                                                    .addManagedChannelBuilder(new StandardChannelBuilder())
-                                                    .addManagedChannelBuilder(new TLSChannelBuilder())
-                                                    .addChannelDecorator(new AgentIDDecorator())
-                                                    .addChannelDecorator(new AuthenticationDecorator())
-                                                    .build();
-                        reconnectCount = 0;
-                        reconnect = false;
-                        notify(GRPCChannelStatus.CONNECTED);
-                    } else if (managedChannel.isConnected(++reconnectCount > Config.Agent.FORCE_RECONNECTION_PERIOD)) {
-                        // Reconnect to the same server is automatically done by GRPC,
-                        // therefore we are responsible to check the connectivity and
-                        // set the state and notify listeners
-                        reconnectCount = 0;
-                        reconnect = false;
-                        notify(GRPCChannelStatus.CONNECTED);
+                    LOGGER.debug("Attempting to reconnect to gRPC server {}. Shutting down existing channel if any.", server);
+                    if (managedChannel != null) {
+                        managedChannel.shutdownNow();
                     }
 
+                    managedChannel = GRPCChannel.newBuilder(ipAndPort[0], Integer.parseInt(ipAndPort[1]))
+                                                .addManagedChannelBuilder(new StandardChannelBuilder())
+                                                .addManagedChannelBuilder(new TLSChannelBuilder())
+                                                .addChannelDecorator(new AgentIDDecorator())
+                                                .addChannelDecorator(new AuthenticationDecorator())
+                                                .build();
+                    LOGGER.debug("Successfully reconnected to gRPC server {}.", server);
+                    reconnectCount = 0;
+                    reconnect = false;
+                    notify(GRPCChannelStatus.CONNECTED);
+
                     return;
                 } catch (Throwable t) {
                     LOGGER.error(t, "Create channel to {} fail.", server);
diff --git a/apm-sniffer/config/agent.config b/apm-sniffer/config/agent.config
index 9056993626..51a315ddb5 100755
--- a/apm-sniffer/config/agent.config
+++ b/apm-sniffer/config/agent.config
@@ -100,6 +100,12 @@ collector.properties_report_period_factor=${SW_AGENT_COLLECTOR_PROPERTIES_REPORT
 collector.backend_service=${SW_AGENT_COLLECTOR_BACKEND_SERVICES:127.0.0.1:11800}
 # How long grpc client will timeout in sending data to upstream. Unit is second.
 collector.grpc_upstream_timeout=${SW_AGENT_COLLECTOR_GRPC_UPSTREAM_TIMEOUT:30}
+# The interval in seconds to send a keepalive ping to the backend.
+# If this is less than or equal to 0, the keepalive is disabled.
+#collector.grpc_keepalive_time=${SW_AGENT_COLLECTOR_GRPC_KEEPALIVE_TIME:60}
+# The timeout in seconds to wait for a keepalive ack from the backend.
+# If the ack is not received within this time, the connection is considered dead.
+#collector.grpc_keepalive_timeout=${SW_AGENT_COLLECTOR_GRPC_KEEPALIVE_TIMEOUT:30}
 # Sniffer get profile task list interval.
 collector.get_profile_task_interval=${SW_AGENT_COLLECTOR_GET_PROFILE_TASK_INTERVAL:20}
 # Sniffer get agent dynamic config interval.