diff --git a/Makefile b/Makefile
index da53a4eeddc..da4502c3c68 100644
--- a/Makefile
+++ b/Makefile
@@ -81,6 +81,7 @@ check_third_party_binary:
 	@which bin/pd-ctl
 	@which bin/sync_diff_inspector
 	@which bin/go-ycsb
+	@which bin/etcdctl
 
 integration_test_build: check_failpoint_ctl
 	$(FAILPOINT_ENABLE)
diff --git a/cdc/owner.go b/cdc/owner.go
index 9499b1ac203..54fc76f4165 100644
--- a/cdc/owner.go
+++ b/cdc/owner.go
@@ -592,8 +592,20 @@ func (o *Owner) cleanUpStaleTasks(ctx context.Context) error {
 		if err != nil {
 			return errors.Trace(err)
 		}
-
+		positions, err := o.etcdClient.GetAllTaskPositions(ctx, changeFeedID)
+		if err != nil {
+			return errors.Trace(err)
+		}
+		// in most cases statuses and positions have the same keys
+		captureIDs := make(map[string]struct{}, len(statuses))
 		for captureID := range statuses {
+			captureIDs[captureID] = struct{}{}
+		}
+		for captureID := range positions {
+			captureIDs[captureID] = struct{}{}
+		}
+
+		for captureID := range captureIDs {
 			if _, ok := active[captureID]; !ok {
 				if err := o.etcdClient.DeleteTaskStatus(ctx, changeFeedID, captureID); err != nil {
 					return errors.Trace(err)
diff --git a/scripts/jenkins_ci/integration_test_common.groovy b/scripts/jenkins_ci/integration_test_common.groovy
index 1349c204233..3279261999e 100644
--- a/scripts/jenkins_ci/integration_test_common.groovy
+++ b/scripts/jenkins_ci/integration_test_common.groovy
@@ -56,6 +56,8 @@ def prepare_binaries() {
                         curl http://download.pingcap.org/tiflash-nightly-linux-amd64.tar.gz | tar xz -C third_bin
                         mv third_bin/tiflash-nightly-linux-amd64/* third_bin
                         curl ${FILE_SERVER_URL}/download/builds/pingcap/go-ycsb/test-br/go-ycsb -o third_bin/go-ycsb
+                        curl -L https://github.com/etcd-io/etcd/releases/download/v3.4.7/etcd-v3.4.7-linux-amd64.tar.gz | tar xz -C ./tmp
+                        mv tmp/etcd-v3.4.7-linux-amd64/etcdctl third_bin
                         curl https://download.pingcap.org/tidb-tools-v2.1.6-linux-amd64.tar.gz | tar xz -C ./tmp tidb-tools-v2.1.6-linux-amd64/bin/sync_diff_inspector
                         mv tmp/tidb-tools-v2.1.6-linux-amd64/bin/* third_bin
                         chmod a+x third_bin/*
diff --git a/tests/availability/capture.sh b/tests/availability/capture.sh
index e735c46812b..a103b6e0c5c 100755
--- a/tests/availability/capture.sh
+++ b/tests/availability/capture.sh
@@ -28,11 +28,19 @@ function check_result() {
     ensure $MAX_RETRIES sql_check
 }
 
+function empty() {
+    sql=$*
+    run_sql "$sql" ${DOWN_TIDB_HOST} ${DOWN_TIDB_PORT} &&
+        check_not_contains "id:"
+}
+
 function nonempty() {
     sql=$*
     run_sql "$sql" ${DOWN_TIDB_HOST} ${DOWN_TIDB_PORT} &&
         check_contains "id:"
 }
+
+export -f empty
 export -f nonempty
 
 function test_capture_ha() {
diff --git a/tests/availability/owner.sh b/tests/availability/owner.sh
index c9c3ffba25b..c0eb106408d 100755
--- a/tests/availability/owner.sh
+++ b/tests/availability/owner.sh
@@ -13,6 +13,7 @@ function test_owner_ha() {
     test_kill_owner
     test_hang_up_owner
     test_expire_owner
+    test_owner_cleanup_stale_tasks
 }
 # test_kill_owner starts two captures and kill the owner
 # we expect the live capture will be elected as the new
@@ -111,3 +112,41 @@ function test_expire_owner() {
 
     cleanup_process $CDC_BINARY
 }
+
+function test_owner_cleanup_stale_tasks() {
+    echo "run test case test_owner_cleanup_stale_tasks"
+
+    # start a capture server
+    run_cdc_server $WORK_DIR $CDC_BINARY
+    # ensure the server become the owner
+    ensure $MAX_RETRIES "$CDC_BINARY cli capture list 2>&1 | grep '\"is-owner\": true'"
+    owner_pid=$(ps -C $CDC_BINARY -o pid= | awk '{print $1}')
+    owner_id=$($CDC_BINARY cli capture list 2>&1 | awk -F '"' '/id/{print $4}')
+    echo "owner pid:" $owner_pid
+    echo "owner id" $owner_id
+
+    # run another server
+    run_cdc_server $WORK_DIR $CDC_BINARY
+    ensure $MAX_RETRIES "$CDC_BINARY cli capture list 2>&1 | grep -v \"$owner_id\" | grep id"
+    capture_pid=$(ps -C $CDC_BINARY -o pid= | awk '{print $1}' | grep -v "$owner_pid")
+    capture_id=$($CDC_BINARY cli capture list 2>&1 | awk -F '"' '/id/{print $4}' | grep -v "$owner_id")
+    echo "capture_id:" $capture_id
+
+    kill -SIGKILL $owner_pid
+    kill -SIGKILL $capture_pid
+    # wait capture info expires
+    sleep 3
+
+    # simulate task status is deleted but task position stales
+    etcdctl del /tidb/cdc/task/status --prefix
+    run_cdc_server $WORK_DIR $CDC_BINARY
+    ensure $MAX_RETRIES "$CDC_BINARY cli capture list 2>&1 | grep '\"is-owner\": true'"
+
+    run_sql "INSERT INTO test.availability(id, val) VALUES (1, 1);"
+    ensure $MAX_RETRIES nonempty 'select id, val from test.availability where id=1 and val=1'
+    run_sql "UPDATE test.availability set val = 22 where id = 1;"
+    ensure $MAX_RETRIES nonempty 'select id, val from test.availability where id=1 and val=22'
+    run_sql "DELETE from test.availability where id=1;"
+    ensure $MAX_RETRIES empty 'select id, val from test.availability where id=1'
+    cleanup_process $CDC_BINARY
+}