diff --git a/java/api/src/main/java/io/ray/api/runtime/RayRuntime.java b/java/api/src/main/java/io/ray/api/runtime/RayRuntime.java
index e689cea00..620a40042 100644
--- a/java/api/src/main/java/io/ray/api/runtime/RayRuntime.java
+++ b/java/api/src/main/java/io/ray/api/runtime/RayRuntime.java
@@ -221,4 +221,12 @@ public interface RayRuntime {
    * @param id Id of the placement group.
    */
   void removePlacementGroup(PlacementGroupId id);
+
+  /**
+   * Wait for the placement group to be ready within the specified time.
+   * @param id Id of placement group.
+   * @param timeoutMs Timeout in milliseconds.
+   * @return True if the placement group is created. False otherwise.
+   */
+  boolean waitPlacementGroupReady(PlacementGroupId id, int timeoutMs);
 }
diff --git a/java/runtime/src/main/java/io/ray/runtime/AbstractRayRuntime.java b/java/runtime/src/main/java/io/ray/runtime/AbstractRayRuntime.java
index 2eae3b647..ac199fd95 100644
--- a/java/runtime/src/main/java/io/ray/runtime/AbstractRayRuntime.java
+++ b/java/runtime/src/main/java/io/ray/runtime/AbstractRayRuntime.java
@@ -200,6 +200,11 @@ public abstract class AbstractRayRuntime implements RayRuntimeInternal {
     return gcsClient.getAllPlacementGroupInfo();
   }
 
+  @Override
+  public boolean waitPlacementGroupReady(PlacementGroupId id, int timeoutMs) {
+    return taskSubmitter.waitPlacementGroupReady(id, timeoutMs);
+  }
+
   @SuppressWarnings("unchecked")
   @Override
   public <T extends BaseActorHandle> T getActorHandle(ActorId actorId) {
diff --git a/java/runtime/src/main/java/io/ray/runtime/gcs/GlobalStateAccessor.java b/java/runtime/src/main/java/io/ray/runtime/gcs/GlobalStateAccessor.java
index 23516e547..663e62a77 100644
--- a/java/runtime/src/main/java/io/ray/runtime/gcs/GlobalStateAccessor.java
+++ b/java/runtime/src/main/java/io/ray/runtime/gcs/GlobalStateAccessor.java
@@ -82,8 +82,7 @@ public class GlobalStateAccessor {
 
   public byte[] getPlacementGroupInfo(PlacementGroupId placementGroupId) {
     synchronized (GlobalStateAccessor.class) {
-      Preconditions.checkNotNull(placementGroupId,
-          "PlacementGroupId can't be null when get placement group info.");
+      validateGlobalStateAccessorPointer();
       return nativeGetPlacementGroupInfo(globalStateAccessorNativePointer,
         placementGroupId.getBytes());
     }
diff --git a/java/runtime/src/main/java/io/ray/runtime/placementgroup/PlacementGroupImpl.java b/java/runtime/src/main/java/io/ray/runtime/placementgroup/PlacementGroupImpl.java
index 633bad98c..558d80dc3 100644
--- a/java/runtime/src/main/java/io/ray/runtime/placementgroup/PlacementGroupImpl.java
+++ b/java/runtime/src/main/java/io/ray/runtime/placementgroup/PlacementGroupImpl.java
@@ -1,5 +1,6 @@
 package io.ray.runtime.placementgroup;
 
+import io.ray.api.Ray;
 import io.ray.api.id.PlacementGroupId;
 import io.ray.api.placementgroup.PlacementGroup;
 import io.ray.api.placementgroup.PlacementGroupState;
@@ -49,6 +50,15 @@ public class PlacementGroupImpl implements PlacementGroup {
     return state;
   }
 
+  /**
+   * Wait for the placement group to be ready within the specified time.
+   * @param timeoutMs Timeout in milliseconds.
+   * @return True if the placement group is created. False otherwise.
+   */
+  public boolean wait(int timeoutMs) {
+    return Ray.internal().waitPlacementGroupReady(id, timeoutMs);
+  }
+
   /**
    * A help class for create the placement group.
    */
diff --git a/java/runtime/src/main/java/io/ray/runtime/task/LocalModeTaskSubmitter.java b/java/runtime/src/main/java/io/ray/runtime/task/LocalModeTaskSubmitter.java
index 53d7d2ae2..1e9304ade 100644
--- a/java/runtime/src/main/java/io/ray/runtime/task/LocalModeTaskSubmitter.java
+++ b/java/runtime/src/main/java/io/ray/runtime/task/LocalModeTaskSubmitter.java
@@ -240,6 +240,11 @@ public class LocalModeTaskSubmitter implements TaskSubmitter {
     placementGroups.remove(id);
   }
 
+  @Override
+  public boolean waitPlacementGroupReady(PlacementGroupId id, int timeoutMs) {
+    return true;
+  }
+
   @Override
   public BaseActorHandle getActor(ActorId actorId) {
     return actorHandles.get(actorId).copy();
diff --git a/java/runtime/src/main/java/io/ray/runtime/task/NativeTaskSubmitter.java b/java/runtime/src/main/java/io/ray/runtime/task/NativeTaskSubmitter.java
index dd2def600..15e193360 100644
--- a/java/runtime/src/main/java/io/ray/runtime/task/NativeTaskSubmitter.java
+++ b/java/runtime/src/main/java/io/ray/runtime/task/NativeTaskSubmitter.java
@@ -91,6 +91,11 @@ public class NativeTaskSubmitter implements TaskSubmitter {
     nativeRemovePlacementGroup(id.getBytes());
   }
 
+  @Override
+  public boolean waitPlacementGroupReady(PlacementGroupId id, int timeoutMs) {
+    return nativeWaitPlacementGroupReady(id.getBytes(), timeoutMs);
+  }
+
   private static native List<byte[]> nativeSubmitTask(FunctionDescriptor functionDescriptor,
       int functionDescriptorHash, List<FunctionArg> args, int numReturns, CallOptions callOptions);
 
@@ -107,4 +112,6 @@ public class NativeTaskSubmitter implements TaskSubmitter {
 
   private static native void nativeRemovePlacementGroup(byte[] placementGroupId);
 
+  private static native boolean nativeWaitPlacementGroupReady(byte[] placementGroupId,
+      int timeoutMs);
 }
diff --git a/java/runtime/src/main/java/io/ray/runtime/task/TaskSubmitter.java b/java/runtime/src/main/java/io/ray/runtime/task/TaskSubmitter.java
index 5c172caf9..17a8d34f9 100644
--- a/java/runtime/src/main/java/io/ray/runtime/task/TaskSubmitter.java
+++ b/java/runtime/src/main/java/io/ray/runtime/task/TaskSubmitter.java
@@ -68,6 +68,14 @@ public interface TaskSubmitter {
    */
   void removePlacementGroup(PlacementGroupId id);
 
+  /**
+   * Wait for the placement group to be ready within the specified time.
+   * @param id Id of placement group.
+   * @param timeoutMs Timeout in milliseconds.
+   * @return True if the placement group is created. False otherwise.
+   */
+  boolean waitPlacementGroupReady(PlacementGroupId id, int timeoutMs);
+
   BaseActorHandle getActor(ActorId actorId);
 
 }
diff --git a/java/test/src/main/java/io/ray/test/PlacementGroupTest.java b/java/test/src/main/java/io/ray/test/PlacementGroupTest.java
index 39fea16e9..831232e91 100644
--- a/java/test/src/main/java/io/ray/test/PlacementGroupTest.java
+++ b/java/test/src/main/java/io/ray/test/PlacementGroupTest.java
@@ -31,8 +31,10 @@ public class PlacementGroupTest extends BaseTest {
   // This test just creates a placement group with one bundle.
   // It's not comprehensive to test all placement group test cases.
   public void testCreateAndCallActor() {
-    PlacementGroup placementGroup = PlacementGroupTestUtils.createSimpleGroup();
-    Assert.assertEquals(((PlacementGroupImpl)placementGroup).getName(),"unnamed_group");
+    PlacementGroupImpl placementGroup = (PlacementGroupImpl)PlacementGroupTestUtils
+        .createSimpleGroup();
+    Assert.assertTrue(placementGroup.wait(10000));
+    Assert.assertEquals(placementGroup.getName(),"unnamed_group");
 
     // Test creating an actor from a constructor.
     ActorHandle<Counter> actor = Ray.actor(Counter::new, 1)
@@ -52,6 +54,8 @@ public class PlacementGroupTest extends BaseTest {
     PlacementGroupImpl secondPlacementGroup = (PlacementGroupImpl)PlacementGroupTestUtils
         .createNameSpecifiedSimpleGroup("CPU", 1, PlacementStrategy.PACK,
         1.0, "second_placement_group");
+    Assert.assertTrue(firstPlacementGroup.wait(10000));
+    Assert.assertTrue(secondPlacementGroup.wait(10000));
 
     PlacementGroupImpl firstPlacementGroupRes =
         (PlacementGroupImpl)Ray.getPlacementGroup((firstPlacementGroup).getId());
diff --git a/python/ray/_raylet.pyx b/python/ray/_raylet.pyx
index abea24000..c13776a92 100644
--- a/python/ray/_raylet.pyx
+++ b/python/ray/_raylet.pyx
@@ -1169,6 +1169,18 @@ cdef class CoreWorker:
                 CCoreWorkerProcess.GetCoreWorker().
                 RemovePlacementGroup(c_placement_group_id))
 
+    def wait_placement_group_ready(self,
+                                   PlacementGroupID placement_group_id,
+                                   int32_t timeout_ms):
+        cdef CRayStatus status
+        cdef CPlacementGroupID cplacement_group_id = (
+            CPlacementGroupID.FromBinary(placement_group_id.binary()))
+        cdef int ctimeout_ms = timeout_ms
+        with nogil:
+            status = CCoreWorkerProcess.GetCoreWorker() \
+                .WaitPlacementGroupReady(cplacement_group_id, ctimeout_ms)
+        return status.ok()
+
     def submit_actor_task(self,
                           Language language,
                           ActorID actor_id,
diff --git a/python/ray/includes/libcoreworker.pxd b/python/ray/includes/libcoreworker.pxd
index c7647ad49..8abb45b49 100644
--- a/python/ray/includes/libcoreworker.pxd
+++ b/python/ray/includes/libcoreworker.pxd
@@ -101,6 +101,8 @@ cdef extern from "ray/core_worker/core_worker.h" nogil:
             CPlacementGroupID *placement_group_id)
         CRayStatus RemovePlacementGroup(
             const CPlacementGroupID &placement_group_id)
+        CRayStatus WaitPlacementGroupReady(
+            const CPlacementGroupID &placement_group_id, int timeout_ms)
         void SubmitActorTask(
             const CActorID &actor_id, const CRayFunction &function,
             const c_vector[unique_ptr[CTaskArg]] &args,
diff --git a/src/ray/core_worker/core_worker.cc b/src/ray/core_worker/core_worker.cc
index fcff4356b..8c4bf546f 100644
--- a/src/ray/core_worker/core_worker.cc
+++ b/src/ray/core_worker/core_worker.cc
@@ -1444,7 +1444,7 @@ Status CoreWorker::RemovePlacementGroup(const PlacementGroupID &placement_group_
   // Synchronously wait for placement group removal.
   RAY_UNUSED(gcs_client_->PlacementGroups().AsyncRemovePlacementGroup(
       placement_group_id,
-      [status_promise](Status status) { status_promise->set_value(status); }));
+      [status_promise](const Status &status) { status_promise->set_value(status); }));
   auto status_future = status_promise->get_future();
   if (status_future.wait_for(std::chrono::seconds(
           RayConfig::instance().gcs_server_request_timeout_seconds())) !=
@@ -1459,6 +1459,24 @@ Status CoreWorker::RemovePlacementGroup(const PlacementGroupID &placement_group_
   return status_future.get();
 }
 
+Status CoreWorker::WaitPlacementGroupReady(const PlacementGroupID &placement_group_id,
+                                           int timeout_ms) {
+  std::shared_ptr<std::promise<Status>> status_promise =
+      std::make_shared<std::promise<Status>>();
+  RAY_CHECK_OK(gcs_client_->PlacementGroups().AsyncWaitUntilReady(
+      placement_group_id,
+      [status_promise](const Status &status) { status_promise->set_value(status); }));
+  auto status_future = status_promise->get_future();
+  if (status_future.wait_for(std::chrono::milliseconds(timeout_ms)) !=
+      std::future_status::ready) {
+    std::ostringstream stream;
+    stream << "There was timeout in waiting for placement group " << placement_group_id
+           << " creation.";
+    return Status::TimedOut(stream.str());
+  }
+  return status_future.get();
+}
+
 void CoreWorker::SubmitActorTask(const ActorID &actor_id, const RayFunction &function,
                                  const std::vector<std::unique_ptr<TaskArg>> &args,
                                  const TaskOptions &task_options,
diff --git a/src/ray/core_worker/core_worker.h b/src/ray/core_worker/core_worker.h
index e419adfd1..beea3a874 100644
--- a/src/ray/core_worker/core_worker.h
+++ b/src/ray/core_worker/core_worker.h
@@ -675,6 +675,16 @@ class CoreWorker : public rpc::CoreWorkerServiceHandler {
   /// NotFound if placement group is already removed or doesn't exist.
   Status RemovePlacementGroup(const PlacementGroupID &placement_group_id);
 
+  /// Wait for a placement group until ready asynchronously.
+  /// Returns once the placement group is created or the timeout expires.
+  ///
+  /// \param placement_group The id of a placement group to wait for.
+  /// \param timeout_ms Timeout in milliseconds.
+  /// \return Status OK if the placement group is created. TimedOut if request to GCS
+  /// server times out. NotFound if placement group is already removed or doesn't exist.
+  Status WaitPlacementGroupReady(const PlacementGroupID &placement_group_id,
+                                 int timeout_ms);
+
   /// Submit an actor task.
   ///
   /// \param[in] caller_id ID of the task submitter.
diff --git a/src/ray/core_worker/lib/java/io_ray_runtime_RayNativeRuntime.h b/src/ray/core_worker/lib/java/io_ray_runtime_RayNativeRuntime.h
index daa4e05a9..69c05cf93 100644
--- a/src/ray/core_worker/lib/java/io_ray_runtime_RayNativeRuntime.h
+++ b/src/ray/core_worker/lib/java/io_ray_runtime_RayNativeRuntime.h
@@ -25,7 +25,7 @@ extern "C" {
  * Class:     io_ray_runtime_RayNativeRuntime
  * Method:    nativeInitialize
  * Signature:
- * (ILjava/lang/String;ILjava/lang/String;Ljava/lang/String;Ljava/lang/String;[BLio/ray/runtime/gcs/GcsClientOptions;ILjava/lang/String;Ljava/util/Map;[B)V
+ * (ILjava/lang/String;ILjava/lang/String;Ljava/lang/String;Ljava/lang/String;[BLio/ray/runtime/gcs/GcsClientOptions;ILjava/lang/String;Ljava/util/Map;)V
  */
 JNIEXPORT void JNICALL Java_io_ray_runtime_RayNativeRuntime_nativeInitialize(
     JNIEnv *, jclass, jint, jstring, jint, jstring, jstring, jstring, jbyteArray, jobject,
diff --git a/src/ray/core_worker/lib/java/io_ray_runtime_object_NativeObjectStore.h b/src/ray/core_worker/lib/java/io_ray_runtime_object_NativeObjectStore.h
index d80784b05..0da1aba92 100644
--- a/src/ray/core_worker/lib/java/io_ray_runtime_object_NativeObjectStore.h
+++ b/src/ray/core_worker/lib/java/io_ray_runtime_object_NativeObjectStore.h
@@ -68,7 +68,7 @@ JNIEXPORT void JNICALL Java_io_ray_runtime_object_NativeObjectStore_nativeDelete
 /*
  * Class:     io_ray_runtime_object_NativeObjectStore
  * Method:    nativeAddLocalReference
- * Signature: ([B[B)V
+ * Signature: ([B)V
  */
 JNIEXPORT void JNICALL
 Java_io_ray_runtime_object_NativeObjectStore_nativeAddLocalReference(JNIEnv *, jclass,
@@ -78,7 +78,7 @@ Java_io_ray_runtime_object_NativeObjectStore_nativeAddLocalReference(JNIEnv *, j
 /*
  * Class:     io_ray_runtime_object_NativeObjectStore
  * Method:    nativeRemoveLocalReference
- * Signature: ([B[B)V
+ * Signature: ([B)V
  */
 JNIEXPORT void JNICALL
 Java_io_ray_runtime_object_NativeObjectStore_nativeRemoveLocalReference(JNIEnv *, jclass,
diff --git a/src/ray/core_worker/lib/java/io_ray_runtime_task_NativeTaskSubmitter.cc b/src/ray/core_worker/lib/java/io_ray_runtime_task_NativeTaskSubmitter.cc
index 9115945d2..c11f782c2 100644
--- a/src/ray/core_worker/lib/java/io_ray_runtime_task_NativeTaskSubmitter.cc
+++ b/src/ray/core_worker/lib/java/io_ray_runtime_task_NativeTaskSubmitter.cc
@@ -293,6 +293,19 @@ Java_io_ray_runtime_task_NativeTaskSubmitter_nativeRemovePlacementGroup(
   THROW_EXCEPTION_AND_RETURN_IF_NOT_OK(env, status, (void)0);
 }
 
+JNIEXPORT jboolean JNICALL
+Java_io_ray_runtime_task_NativeTaskSubmitter_nativeWaitPlacementGroupReady(
+    JNIEnv *env, jclass p, jbyteArray placement_group_id_bytes, jint timeout_ms) {
+  const auto placement_group_id =
+      JavaByteArrayToId<ray::PlacementGroupID>(env, placement_group_id_bytes);
+  auto status = ray::CoreWorkerProcess::GetCoreWorker().WaitPlacementGroupReady(
+      placement_group_id, timeout_ms);
+  if (status.IsNotFound()) {
+    env->ThrowNew(java_ray_exception_class, status.message().c_str());
+  }
+  return status.ok();
+}
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/src/ray/core_worker/lib/java/io_ray_runtime_task_NativeTaskSubmitter.h b/src/ray/core_worker/lib/java/io_ray_runtime_task_NativeTaskSubmitter.h
index 33a46806e..8ea517b60 100644
--- a/src/ray/core_worker/lib/java/io_ray_runtime_task_NativeTaskSubmitter.h
+++ b/src/ray/core_worker/lib/java/io_ray_runtime_task_NativeTaskSubmitter.h
@@ -71,6 +71,17 @@ JNIEXPORT void JNICALL
 Java_io_ray_runtime_task_NativeTaskSubmitter_nativeRemovePlacementGroup(JNIEnv *, jclass,
                                                                         jbyteArray);
 
+/*
+ * Class:     io_ray_runtime_task_NativeTaskSubmitter
+ * Method:    nativeWaitPlacementGroupReady
+ * Signature: (J)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_io_ray_runtime_task_NativeTaskSubmitter__nativeWaitPlacementGroupReady(JNIEnv *,
+                                                                            jclass,
+                                                                            jbyteArray,
+                                                                            jint);
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/src/ray/gcs/accessor.h b/src/ray/gcs/accessor.h
index a78c3c4cc..82442535c 100644
--- a/src/ray/gcs/accessor.h
+++ b/src/ray/gcs/accessor.h
@@ -749,7 +749,7 @@ class PlacementGroupInfoAccessor {
   virtual Status AsyncGetAll(
       const MultiItemCallback<rpc::PlacementGroupTableData> &callback) = 0;
 
-  /// Remove a placement group to GCS synchronously.
+  /// Remove a placement group to GCS asynchronously.
   ///
   /// \param placement_group_id The id for the placement group to remove.
   /// \param callback Callback that will be called after the placement group is
@@ -758,6 +758,14 @@ class PlacementGroupInfoAccessor {
   virtual Status AsyncRemovePlacementGroup(const PlacementGroupID &placement_group_id,
                                            const StatusCallback &callback) = 0;
 
+  /// Wait for a placement group until ready asynchronously.
+  ///
+  /// \param placement_group_id The id for the placement group to wait for until ready.
+  /// \param callback Callback that will be called after the placement group is created.
+  /// \return Status
+  virtual Status AsyncWaitUntilReady(const PlacementGroupID &placement_group_id,
+                                     const StatusCallback &callback) = 0;
+
  protected:
   PlacementGroupInfoAccessor() = default;
 };
diff --git a/src/ray/gcs/gcs_client/service_based_accessor.cc b/src/ray/gcs/gcs_client/service_based_accessor.cc
index 2abaf0783..2fbbb5c34 100644
--- a/src/ray/gcs/gcs_client/service_based_accessor.cc
+++ b/src/ray/gcs/gcs_client/service_based_accessor.cc
@@ -1510,5 +1510,23 @@ Status ServiceBasedPlacementGroupInfoAccessor::AsyncGetAll(
   return Status::OK();
 }
 
+Status ServiceBasedPlacementGroupInfoAccessor::AsyncWaitUntilReady(
+    const PlacementGroupID &placement_group_id, const StatusCallback &callback) {
+  RAY_LOG(DEBUG) << "Waiting for placement group until ready, placement group id = "
+                 << placement_group_id;
+  rpc::WaitPlacementGroupUntilReadyRequest request;
+  request.set_placement_group_id(placement_group_id.Binary());
+  client_impl_->GetGcsRpcClient().WaitPlacementGroupUntilReady(
+      request,
+      [placement_group_id, callback](
+          const Status &status, const rpc::WaitPlacementGroupUntilReadyReply &reply) {
+        callback(status);
+        RAY_LOG(DEBUG)
+            << "Finished waiting placement group until ready, placement group id = "
+            << placement_group_id;
+      });
+  return Status::OK();
+}
+
 }  // namespace gcs
 }  // namespace ray
diff --git a/src/ray/gcs/gcs_client/service_based_accessor.h b/src/ray/gcs/gcs_client/service_based_accessor.h
index 1ad9da10f..1b9988af8 100644
--- a/src/ray/gcs/gcs_client/service_based_accessor.h
+++ b/src/ray/gcs/gcs_client/service_based_accessor.h
@@ -452,6 +452,9 @@ class ServiceBasedPlacementGroupInfoAccessor : public PlacementGroupInfoAccessor
   Status AsyncGetAll(
       const MultiItemCallback<rpc::PlacementGroupTableData> &callback) override;
 
+  Status AsyncWaitUntilReady(const PlacementGroupID &placement_group_id,
+                             const StatusCallback &callback) override;
+
  private:
   ServiceBasedGcsClient *client_impl_;
 };
diff --git a/src/ray/gcs/gcs_server/gcs_placement_group_manager.cc b/src/ray/gcs/gcs_server/gcs_placement_group_manager.cc
index d6babd48e..b15cd9ce7 100644
--- a/src/ray/gcs/gcs_server/gcs_placement_group_manager.cc
+++ b/src/ray/gcs/gcs_server/gcs_placement_group_manager.cc
@@ -227,6 +227,18 @@ void GcsPlacementGroupManager::OnPlacementGroupCreationSuccess(
         }
         MarkSchedulingDone();
         SchedulePendingPlacementGroups();
+
+        // Invoke all callbacks for all `WaitPlacementGroupUntilReady` requests of this
+        // placement group and remove all of them from
+        // placement_group_to_create_callbacks_.
+        auto pg_to_create_iter =
+            placement_group_to_create_callbacks_.find(placement_group_id);
+        if (pg_to_create_iter != placement_group_to_create_callbacks_.end()) {
+          for (auto &callback : pg_to_create_iter->second) {
+            callback(status);
+          }
+          placement_group_to_create_callbacks_.erase(pg_to_create_iter);
+        }
       }));
 }
 
@@ -301,6 +313,7 @@ void GcsPlacementGroupManager::RemovePlacementGroup(
   }
   auto placement_group = placement_group_it->second;
   registered_placement_groups_.erase(placement_group_it);
+  placement_group_to_create_callbacks_.erase(placement_group_id);
 
   // Destroy all bundles.
   gcs_placement_group_scheduler_->DestroyPlacementGroupBundleResourcesIfExists(
@@ -388,6 +401,42 @@ void GcsPlacementGroupManager::HandleGetAllPlacementGroup(
   ++counts_[CountType::GET_ALL_PLACEMENT_GROUP_REQUEST];
 }
 
+void GcsPlacementGroupManager::HandleWaitPlacementGroupUntilReady(
+    const rpc::WaitPlacementGroupUntilReadyRequest &request,
+    rpc::WaitPlacementGroupUntilReadyReply *reply,
+    rpc::SendReplyCallback send_reply_callback) {
+  PlacementGroupID placement_group_id =
+      PlacementGroupID::FromBinary(request.placement_group_id());
+  RAY_LOG(DEBUG) << "Waiting for placement group until ready, placement group id = "
+                 << placement_group_id;
+
+  // If the placement group does not exist or it has been successfully created, return
+  // directly.
+  const auto &iter = registered_placement_groups_.find(placement_group_id);
+  if (iter == registered_placement_groups_.end()) {
+    RAY_LOG(DEBUG) << "Placement group is not exist, placement group id = "
+                   << placement_group_id;
+    GCS_RPC_SEND_REPLY(send_reply_callback, reply,
+                       Status::NotFound("Placement group is not exist."));
+  } else if (iter->second->GetState() == rpc::PlacementGroupTableData::CREATED) {
+    RAY_LOG(DEBUG) << "Placement group is created, placement group id = "
+                   << placement_group_id;
+    GCS_RPC_SEND_REPLY(send_reply_callback, reply, Status::OK());
+  } else {
+    auto callback = [placement_group_id, reply,
+                     send_reply_callback](const Status &status) {
+      RAY_LOG(DEBUG)
+          << "Finished waiting for placement group until ready, placement group id = "
+          << placement_group_id;
+      GCS_RPC_SEND_REPLY(send_reply_callback, reply, status);
+    };
+    placement_group_to_create_callbacks_[placement_group_id].emplace_back(
+        std::move(callback));
+  }
+
+  ++counts_[CountType::WAIT_PLACEMENT_GROUP_UNTIL_READY_REQUEST];
+}
+
 void GcsPlacementGroupManager::RetryCreatingPlacementGroup() {
   execute_after(io_context_, [this] { SchedulePendingPlacementGroups(); },
                 RayConfig::instance().gcs_create_placement_group_retry_interval_ms());
@@ -509,6 +558,8 @@ std::string GcsPlacementGroupManager::DebugString() const {
          << counts_[CountType::GET_PLACEMENT_GROUP_REQUEST]
          << ", GetAllPlacementGroup request count: "
          << counts_[CountType::GET_ALL_PLACEMENT_GROUP_REQUEST]
+         << ", WaitPlacementGroupUntilReady request count: "
+         << counts_[CountType::WAIT_PLACEMENT_GROUP_UNTIL_READY_REQUEST]
          << ", Registered placement groups count: " << registered_placement_groups_.size()
          << ", Pending placement groups count: " << pending_placement_groups_.size()
          << "}";
diff --git a/src/ray/gcs/gcs_server/gcs_placement_group_manager.h b/src/ray/gcs/gcs_server/gcs_placement_group_manager.h
index eec2048d6..17a4f5c11 100644
--- a/src/ray/gcs/gcs_server/gcs_placement_group_manager.h
+++ b/src/ray/gcs/gcs_server/gcs_placement_group_manager.h
@@ -155,6 +155,11 @@ class GcsPlacementGroupManager : public rpc::PlacementGroupInfoHandler {
                                   rpc::GetAllPlacementGroupReply *reply,
                                   rpc::SendReplyCallback send_reply_callback) override;
 
+  void HandleWaitPlacementGroupUntilReady(
+      const rpc::WaitPlacementGroupUntilReadyRequest &request,
+      rpc::WaitPlacementGroupUntilReadyReply *reply,
+      rpc::SendReplyCallback send_reply_callback) override;
+
   /// Register placement_group asynchronously.
   ///
   /// \param placement_group The placement group to be created.
@@ -276,6 +281,10 @@ class GcsPlacementGroupManager : public rpc::PlacementGroupInfoHandler {
   absl::flat_hash_map<PlacementGroupID, StatusCallback>
       placement_group_to_register_callback_;
 
+  /// Callback of `WaitPlacementGroupUntilReady` requests.
+  absl::flat_hash_map<PlacementGroupID, std::vector<StatusCallback>>
+      placement_group_to_create_callbacks_;
+
   /// All registered placement_groups (pending placement_groups are also included).
   absl::flat_hash_map<PlacementGroupID, std::shared_ptr<GcsPlacementGroup>>
       registered_placement_groups_;
@@ -308,7 +317,8 @@ class GcsPlacementGroupManager : public rpc::PlacementGroupInfoHandler {
     REMOVE_PLACEMENT_GROUP_REQUEST = 1,
     GET_PLACEMENT_GROUP_REQUEST = 2,
     GET_ALL_PLACEMENT_GROUP_REQUEST = 3,
-    CountType_MAX = 4,
+    WAIT_PLACEMENT_GROUP_UNTIL_READY_REQUEST = 4,
+    CountType_MAX = 5,
   };
   uint64_t counts_[CountType::CountType_MAX] = {0};
 };
diff --git a/src/ray/gcs/redis_accessor.cc b/src/ray/gcs/redis_accessor.cc
index b048e32ad..f750c4b66 100644
--- a/src/ray/gcs/redis_accessor.cc
+++ b/src/ray/gcs/redis_accessor.cc
@@ -694,6 +694,11 @@ Status RedisPlacementGroupInfoAccessor::AsyncGetAll(
   return Status::Invalid("Not implemented");
 }
 
+Status RedisPlacementGroupInfoAccessor::AsyncWaitUntilReady(
+    const PlacementGroupID &placement_group_id, const StatusCallback &callback) {
+  return Status::Invalid("Not implemented");
+}
+
 }  // namespace gcs
 
 }  // namespace ray
diff --git a/src/ray/gcs/redis_accessor.h b/src/ray/gcs/redis_accessor.h
index baa63514b..542e6affb 100644
--- a/src/ray/gcs/redis_accessor.h
+++ b/src/ray/gcs/redis_accessor.h
@@ -466,6 +466,9 @@ class RedisPlacementGroupInfoAccessor : public PlacementGroupInfoAccessor {
 
   Status AsyncGetAll(
       const MultiItemCallback<rpc::PlacementGroupTableData> &callback) override;
+
+  Status AsyncWaitUntilReady(const PlacementGroupID &placement_group_id,
+                             const StatusCallback &callback) override;
 };
 
 }  // namespace gcs
diff --git a/src/ray/protobuf/gcs_service.proto b/src/ray/protobuf/gcs_service.proto
index a68264359..8f226546b 100644
--- a/src/ray/protobuf/gcs_service.proto
+++ b/src/ray/protobuf/gcs_service.proto
@@ -527,20 +527,28 @@ message GetAllPlacementGroupReply {
   repeated PlacementGroupTableData placement_group_table_data = 2;
 }
 
+message WaitPlacementGroupUntilReadyRequest {
+  bytes placement_group_id = 1;
+}
+
+message WaitPlacementGroupUntilReadyReply {
+  GcsStatus status = 1;
+}
+
 // Service for placement group info access.
 service PlacementGroupInfoGcsService {
   // Create placement group via gcs service.
   rpc CreatePlacementGroup(CreatePlacementGroupRequest)
       returns (CreatePlacementGroupReply);
-
   // Remove placement group via gcs service.
   rpc RemovePlacementGroup(RemovePlacementGroupRequest)
       returns (RemovePlacementGroupReply);
-
   // Get placement group information via gcs service.
   rpc GetPlacementGroup(GetPlacementGroupRequest) returns (GetPlacementGroupReply);
-
   // Get information of all placement group from GCS Service.
   rpc GetAllPlacementGroup(GetAllPlacementGroupRequest)
       returns (GetAllPlacementGroupReply);
-}
\ No newline at end of file
+  // Wait for placement group until ready.
+  rpc WaitPlacementGroupUntilReady(WaitPlacementGroupUntilReadyRequest)
+      returns (WaitPlacementGroupUntilReadyReply);
+}
diff --git a/src/ray/rpc/gcs_server/gcs_rpc_client.h b/src/ray/rpc/gcs_server/gcs_rpc_client.h
index faba25e01..4b3799ea3 100644
--- a/src/ray/rpc/gcs_server/gcs_rpc_client.h
+++ b/src/ray/rpc/gcs_server/gcs_rpc_client.h
@@ -267,6 +267,10 @@ class GcsRpcClient {
   VOID_GCS_RPC_CLIENT_METHOD(PlacementGroupInfoGcsService, GetAllPlacementGroup,
                              placement_group_info_grpc_client_, )
 
+  /// Wait for placement group until ready via GCS Service.
+  VOID_GCS_RPC_CLIENT_METHOD(PlacementGroupInfoGcsService, WaitPlacementGroupUntilReady,
+                             placement_group_info_grpc_client_, )
+
  private:
   std::function<void(GcsServiceFailureType)> gcs_service_failure_detected_;
 
diff --git a/src/ray/rpc/gcs_server/gcs_rpc_server.h b/src/ray/rpc/gcs_server/gcs_rpc_server.h
index aecabcfa2..efd48a023 100644
--- a/src/ray/rpc/gcs_server/gcs_rpc_server.h
+++ b/src/ray/rpc/gcs_server/gcs_rpc_server.h
@@ -474,6 +474,11 @@ class PlacementGroupInfoGcsServiceHandler {
   virtual void HandleGetAllPlacementGroup(const GetAllPlacementGroupRequest &request,
                                           GetAllPlacementGroupReply *reply,
                                           SendReplyCallback send_reply_callback) = 0;
+
+  virtual void HandleWaitPlacementGroupUntilReady(
+      const WaitPlacementGroupUntilReadyRequest &request,
+      WaitPlacementGroupUntilReadyReply *reply,
+      SendReplyCallback send_reply_callback) = 0;
 };
 
 /// The `GrpcService` for `PlacementGroupInfoGcsService`.
@@ -496,6 +501,7 @@ class PlacementGroupInfoGrpcService : public GrpcService {
     PLACEMENT_GROUP_INFO_SERVICE_RPC_HANDLER(RemovePlacementGroup);
     PLACEMENT_GROUP_INFO_SERVICE_RPC_HANDLER(GetPlacementGroup);
     PLACEMENT_GROUP_INFO_SERVICE_RPC_HANDLER(GetAllPlacementGroup);
+    PLACEMENT_GROUP_INFO_SERVICE_RPC_HANDLER(WaitPlacementGroupUntilReady);
   }
 
  private: