diff --git a/include/libs/sync/sync.h b/include/libs/sync/sync.h
index 513ba8cb34..b8a4726be0 100644
--- a/include/libs/sync/sync.h
+++ b/include/libs/sync/sync.h
@@ -41,6 +41,7 @@ extern "C" {
 #define SNAPSHOT_WAIT_MS             1000 * 30
 
 #define SYNC_APPEND_ENTRIES_TIMEOUT_MS 10000
+#define SYNC_HEART_TIMEOUT_MS          1000 * 8
 
 #define SYNC_MAX_BATCH_SIZE 1
 #define SYNC_INDEX_BEGIN    0
diff --git a/source/dnode/mgmt/mgmt_mnode/src/mmHandle.c b/source/dnode/mgmt/mgmt_mnode/src/mmHandle.c
index 16fe6c1b91..ceb452c551 100644
--- a/source/dnode/mgmt/mgmt_mnode/src/mmHandle.c
+++ b/source/dnode/mgmt/mgmt_mnode/src/mmHandle.c
@@ -196,7 +196,7 @@ SArray *mmGetMsgHandles() {
   if (dmSetMgmtHandle(pArray, TDMT_SYNC_PRE_SNAPSHOT, mmPutMsgToSyncQueue, 1) == NULL) goto _OVER;
   if (dmSetMgmtHandle(pArray, TDMT_SYNC_PRE_SNAPSHOT_REPLY, mmPutMsgToSyncQueue, 1) == NULL) goto _OVER;
   if (dmSetMgmtHandle(pArray, TDMT_SYNC_HEARTBEAT, mmPutMsgToSyncCtrlQueue, 1) == NULL) goto _OVER;
-  if (dmSetMgmtHandle(pArray, TDMT_SYNC_HEARTBEAT_REPLY, mmPutMsgToSyncCtrlQueue, 1) == NULL) goto _OVER;
+  if (dmSetMgmtHandle(pArray, TDMT_SYNC_HEARTBEAT_REPLY, mmPutMsgToSyncQueue, 1) == NULL) goto _OVER;
 
   code = 0;
 
diff --git a/source/dnode/mgmt/mgmt_vnode/src/vmHandle.c b/source/dnode/mgmt/mgmt_vnode/src/vmHandle.c
index e15d7ac3df..743beb7f82 100644
--- a/source/dnode/mgmt/mgmt_vnode/src/vmHandle.c
+++ b/source/dnode/mgmt/mgmt_vnode/src/vmHandle.c
@@ -464,7 +464,7 @@ SArray *vmGetMsgHandles() {
   if (dmSetMgmtHandle(pArray, TDMT_SYNC_PRE_SNAPSHOT_REPLY, vmPutMsgToSyncQueue, 0) == NULL) goto _OVER;
 
   if (dmSetMgmtHandle(pArray, TDMT_SYNC_HEARTBEAT, vmPutMsgToSyncCtrlQueue, 0) == NULL) goto _OVER;
-  if (dmSetMgmtHandle(pArray, TDMT_SYNC_HEARTBEAT_REPLY, vmPutMsgToSyncCtrlQueue, 0) == NULL) goto _OVER;
+  if (dmSetMgmtHandle(pArray, TDMT_SYNC_HEARTBEAT_REPLY, vmPutMsgToSyncQueue, 0) == NULL) goto _OVER;
 
   code = 0;
 
diff --git a/source/libs/sync/inc/syncInt.h b/source/libs/sync/inc/syncInt.h
index 57f52c7d88..1e72b4eb26 100644
--- a/source/libs/sync/inc/syncInt.h
+++ b/source/libs/sync/inc/syncInt.h
@@ -232,6 +232,7 @@ int32_t   syncNodeSendMsgById(const SRaftId* destRaftId, SSyncNode* pSyncNode, S
 int32_t   syncNodeSendMsgByInfo(const SNodeInfo* nodeInfo, SSyncNode* pSyncNode, SRpcMsg* pMsg);
 SyncIndex syncMinMatchIndex(SSyncNode* pSyncNode);
 int32_t   syncCacheEntry(SSyncLogStore* pLogStore, SSyncRaftEntry* pEntry, LRUHandle** h);
+bool      syncNodeHeartbeatTimeout(SSyncNode* pSyncNode);
 
 // raft state change --------------
 void syncNodeUpdateTerm(SSyncNode* pSyncNode, SyncTerm term);
diff --git a/source/libs/sync/inc/syncMessage.h b/source/libs/sync/inc/syncMessage.h
index 92e7b555a4..acaf499cbb 100644
--- a/source/libs/sync/inc/syncMessage.h
+++ b/source/libs/sync/inc/syncMessage.h
@@ -137,6 +137,7 @@ typedef struct SyncHeartbeatReply {
   SyncTerm term;
   SyncTerm privateTerm;
   int64_t  startTime;
+  int64_t  timeStamp;
 } SyncHeartbeatReply;
 
 typedef struct SyncPreSnapshot {
diff --git a/source/libs/sync/src/syncIndexMgr.c b/source/libs/sync/src/syncIndexMgr.c
index ca5e531528..830e50fc4f 100644
--- a/source/libs/sync/src/syncIndexMgr.c
+++ b/source/libs/sync/src/syncIndexMgr.c
@@ -50,9 +50,10 @@ void syncIndexMgrClear(SSyncIndexMgr *pSyncIndexMgr) {
   memset(pSyncIndexMgr->privateTerm, 0, sizeof(pSyncIndexMgr->privateTerm));
 
   // int64_t timeNow = taosGetMonotonicMs();
+  int64_t timeNow = taosGetTimestampMs();
   for (int i = 0; i < pSyncIndexMgr->replicaNum; ++i) {
     pSyncIndexMgr->startTimeArr[i] = 0;
-    pSyncIndexMgr->recvTimeArr[i] = 0;
+    pSyncIndexMgr->recvTimeArr[i] = timeNow;
   }
 
   /*
@@ -147,7 +148,7 @@ int64_t syncIndexMgrGetRecvTime(SSyncIndexMgr *pSyncIndexMgr, const SRaftId *pRa
       return recvTime;
     }
   }
-  ASSERT(0);
+
   return -1;
 }
 
diff --git a/source/libs/sync/src/syncMain.c b/source/libs/sync/src/syncMain.c
index 88b8ba7e25..d9f6753dac 100644
--- a/source/libs/sync/src/syncMain.c
+++ b/source/libs/sync/src/syncMain.c
@@ -639,6 +639,14 @@ int32_t syncNodePropose(SSyncNode* pSyncNode, SRpcMsg* pMsg, bool isWeak) {
     return -1;
   }
 
+  // heartbeat timeout
+  if (syncNodeHeartbeatTimeout(pSyncNode)) {
+    terrno = TSDB_CODE_SYN_PROPOSE_NOT_READY;
+    sNError(pSyncNode, "failed to sync propose since hearbeat timeout, type:%s, last:%" PRId64 ", cmt:%" PRId64,
+            TMSG_INFO(pMsg->msgType), syncNodeGetLastIndex(pSyncNode), pSyncNode->commitIndex);
+    return -1;
+  }
+
   // optimized one replica
   if (syncNodeIsOptimizedOneReplica(pSyncNode, pMsg)) {
     SyncIndex retIndex;
@@ -2086,6 +2094,29 @@ int32_t syncCacheEntry(SSyncLogStore* pLogStore, SSyncRaftEntry* pEntry, LRUHand
   return code;
 }
 
+bool syncNodeHeartbeatTimeout(SSyncNode* pSyncNode) {
+  if (pSyncNode->replicaNum == 1) {
+    return false;
+  }
+
+  int32_t toCount = 0;
+  int64_t tsNow = taosGetTimestampMs();
+  for (int32_t i = 0; i < pSyncNode->peersNum; ++i) {
+    int64_t recvTime = syncIndexMgrGetRecvTime(pSyncNode->pMatchIndex, &(pSyncNode->peersId[i]));
+    if (recvTime == 0 || recvTime == -1) {
+      continue;
+    }
+
+    if (tsNow - recvTime > SYNC_HEART_TIMEOUT_MS) {
+      toCount++;
+    }
+  }
+
+  bool b = (toCount >= pSyncNode->quorum ? true : false);
+
+  return b;
+}
+
 static int32_t syncNodeAppendNoop(SSyncNode* ths) {
   int32_t ret = 0;
 
@@ -2127,6 +2158,7 @@ int32_t syncNodeOnHeartbeat(SSyncNode* ths, const SRpcMsg* pRpcMsg) {
   pMsgReply->srcId = ths->myRaftId;
   pMsgReply->term = ths->pRaftStore->currentTerm;
   pMsgReply->privateTerm = 8864;  // magic number
+  pMsgReply->timeStamp = taosGetTimestampMs();
 
   if (pMsg->term == ths->pRaftStore->currentTerm && ths->state != TAOS_SYNC_STATE_LEADER) {
     syncNodeResetElectTimer(ths);
@@ -2191,7 +2223,7 @@ int32_t syncNodeOnHeartbeatReply(SSyncNode* ths, const SRpcMsg* pRpcMsg) {
   syncLogRecvHeartbeatReply(ths, pMsg, "");
 
   // update last reply time, make decision whether the other node is alive or not
-  syncIndexMgrSetRecvTime(ths->pMatchIndex, &pMsg->destId, pMsg->startTime);
+  syncIndexMgrSetRecvTime(ths->pMatchIndex, &pMsg->srcId, pMsg->timeStamp);
   return 0;
 }
 
diff --git a/source/libs/sync/src/syncUtil.c b/source/libs/sync/src/syncUtil.c
index da6f8a52d9..4c84786286 100644
--- a/source/libs/sync/src/syncUtil.c
+++ b/source/libs/sync/src/syncUtil.c
@@ -424,8 +424,8 @@ void syncLogRecvHeartbeatReply(SSyncNode* pSyncNode, const SyncHeartbeatReply* p
   char     host[64];
   uint16_t port;
   syncUtilU642Addr(pMsg->srcId.addr, host, sizeof(host), &port);
-  sNTrace(pSyncNode, "recv sync-heartbeat-reply from %s:%d {term:%" PRId64 ", pterm:%" PRId64 "}, %s", host, port,
-          pMsg->term, pMsg->privateTerm, s);
+  sNTrace(pSyncNode, "recv sync-heartbeat-reply from %s:%d {term:%" PRId64 ", ts:%" PRId64 "}, %s", host, port,
+          pMsg->term, pMsg->timeStamp, s);
 }
 
 void syncLogSendSyncPreSnapshot(SSyncNode* pSyncNode, const SyncPreSnapshot* pMsg, const char* s) {