diff --git a/src/ra.erl b/src/ra.erl
index d415978d..a34f60a2 100644
--- a/src/ra.erl
+++ b/src/ra.erl
@@ -23,6 +23,8 @@
          %% queries
          members/1,
          members/2,
+         members_info/1,
+         members_info/2,
          initial_members/1,
          initial_members/2,
          local_query/2,
@@ -1037,6 +1039,45 @@ members({local, ServerId}, Timeout) ->
 members(ServerId, Timeout) ->
     ra_server_proc:state_query(ServerId, members, Timeout).
 
+%% @doc Returns a list of cluster members and their Raft metrics
+%%
+%% Except if `{local, ServerId}' is passed, the query is sent to the specified
+%% server which may redirect it to the leader if it is a follower. It may
+%% timeout if there is currently no leader (i.e. an election is in progress).
+%%
+%% With `{local, ServerId}', the query is always handled by the specified
+%% server. It means the returned list might be out-of-date compared to what the
+%% leader would have returned.
+%%
+%% @param ServerId the Ra server(s) to send the query to
+%% @end
+-spec members_info(ra_server_id() | [ra_server_id()] | {local, ra_server_id()}) ->
+    ra_server_proc:ra_leader_call_ret(ra_cluster()).
+members_info(ServerId) ->
+    members_info(ServerId, ?DEFAULT_TIMEOUT).
+
+%% @doc Returns a list of cluster members and their Raft metrics
+%%
+%% Except if `{local, ServerId}' is passed, the query is sent to the specified
+%% server which may redirect it to the leader if it is a follower. It may
+%% timeout if there is currently no leader (i.e. an election is in progress).
+%%
+%% With `{local, ServerId}', the query is always handled by the specified
+%% server. It means the returned list might be out-of-date compared to what the
+%% leader would have returned.
+%%
+%% @param ServerId the Ra server(s) to send the query to
+%% @param Timeout the timeout to use
+%% @end
+-spec members_info(ra_server_id() | [ra_server_id()] | {local, ra_server_id()},
+              timeout()) ->
+    ra_server_proc:ra_leader_call_ret(ra_cluster()).
+members_info({local, ServerId}, Timeout) ->
+    ra_server_proc:local_state_query(ServerId, members_info, Timeout);
+members_info(ServerId, Timeout) ->
+    ra_server_proc:state_query(ServerId, members_info, Timeout).
+
+
 %% @doc Returns a list of initial (seed) cluster members.
 %%
 %% This allows Ra-based systems with dynamic cluster membership
diff --git a/src/ra_server_proc.erl b/src/ra_server_proc.erl
index cbaa97b3..2f5189b8 100644
--- a/src/ra_server_proc.erl
+++ b/src/ra_server_proc.erl
@@ -185,6 +185,7 @@ log_fold(ServerId, Fun, InitialState, Timeout) ->
                   overview |
                   voters |
                   members |
+                  members_info |
                   initial_members |
                   machine, timeout()) ->
     ra_leader_call_ret(term()).
@@ -196,6 +197,7 @@ state_query(ServerLoc, Spec, Timeout) ->
                         overview |
                         voters |
                         members |
+                        members_info |
                         initial_members |
                         machine, timeout()) ->
     ra_local_call_ret(term()).
@@ -1555,6 +1557,51 @@ do_state_query(voters, #{cluster := Cluster}) ->
     Vs;
 do_state_query(members, #{cluster := Cluster}) ->
     maps:keys(Cluster);
+do_state_query(members_info, #{cfg := #cfg{id = Self}, cluster := Cluster,
+               leader_id := Self, query_index := QI, commit_index := CI,
+               membership := Membership}) ->
+    maps:map(fun(Id, Peer) ->
+                 case {Id, Peer} of
+                     {Self, Peer = #{voter_status := VoterStatus}} ->
+                         %% For completeness sake, preserve `target`
+                         %% of once promoted leader.
+                         #{next_index => CI+1,
+                           match_index => CI,
+                           query_index => QI,
+                           status => normal,
+                           voter_status => VoterStatus#{membership => Membership}};
+                     {Self, _} ->
+                         #{next_index => CI+1,
+                           match_index => CI,
+                           query_index => QI,
+                           status => normal,
+                           voter_status => #{membership => Membership}};
+                     {_, Peer = #{voter_status := _}} ->
+                          Peer;
+                     {_, Peer} ->
+                          %% Initial cluster members have no voter_status.
+                          Peer#{voter_status => #{membership => voter}}
+                 end
+             end, Cluster);
+do_state_query(members_info, #{cfg := #cfg{id = Self}, cluster := Cluster,
+               query_index := QI, commit_index := CI,
+               membership := Membership}) ->
+    %% Followers do not have sufficient information,
+    %% bail out and send whatever we have.
+    maps:map(fun(Id, Peer) ->
+                case {Id, Peer} of
+                    {Self, #{voter_status := VS}} ->
+                        #{match_index => CI,
+                          query_index => QI,
+                          voter_status => VS#{membership => Membership}};
+                    {Self, _} ->
+                        #{match_index => CI,
+                          query_index => QI,
+                          voter_status => #{membership => Membership}};
+                    _ ->
+                        #{}
+                end
+             end, Cluster);
 do_state_query(initial_members, #{log := Log}) ->
     case ra_log:read_config(Log) of
         {ok, #{initial_members := InitialMembers}} ->
diff --git a/test/ra_SUITE.erl b/test/ra_SUITE.erl
index 8338b0ad..bf6eb4ca 100644
--- a/test/ra_SUITE.erl
+++ b/test/ra_SUITE.erl
@@ -44,6 +44,7 @@ all_tests() ->
      local_query_boom,
      local_query_stale,
      members,
+     members_info,
      consistent_query,
      consistent_query_after_restart,
      consistent_query_minority,
@@ -537,6 +538,39 @@ members(Config) ->
     {ok, Cluster, Leader} = ra:members(Leader),
     terminate_cluster(Cluster).
 
+members_info(Config) ->
+    Name = ?config(test_name, Config),
+    [A = {_, Host}, B] = InitNodes = start_local_cluster(2, Name, add_machine()),
+    {ok, _, Leader} = ra:process_command(A, 9),
+    [Follower] = InitNodes -- [Leader],
+    CSpec =  #{id => {CName = ra_server:name(Name, "3"), node()},
+               uid => <<"3">>,
+               membership => promotable},
+    C =  {CName, Host},
+    ok = ra:start_server(default, Name, CSpec, add_machine(), InitNodes),
+    {ok, _, _} = ra:add_member(Leader, CSpec),
+    {ok, 9, Leader} = ra:consistent_query(C, fun(S) -> S end),
+    ?assertMatch({ok,
+                  #{Follower := #{status := normal, query_index := QI,
+                                  next_index := NI, match_index := MI,
+                                  commit_index_sent := MI,
+                                  voter_status := #{membership := voter}},
+                    Leader := #{status := normal, query_index := QI,
+                                next_index := NI, match_index := MI,
+                                voter_status := #{membership := voter}},
+                    C := #{status := normal, query_index := QI,
+                           next_index := NI, match_index := 0,
+                           commit_index_sent := MI,
+                           voter_status := #{membership := promotable, target := MI}}},
+                  Leader}, ra:members_info(Follower)),
+    ?assertMatch({ok,
+                  #{A := #{},
+                    B := #{},
+                    C := #{query_index := 1, match_index := 3,
+                           voter_status := #{membership := promotable}}},
+                  C}, ra:members_info({local, C})),
+    terminate_cluster([A, B, C]).
+
 consistent_query(Config) ->
     [A, _, _]  = Cluster = start_local_cluster(3, ?config(test_name, Config),
                                                add_machine()),