diff --git a/src/ray/gcs/accessor.h b/src/ray/gcs/accessor.h
index 7c730035d..bfe1bf655 100644
--- a/src/ray/gcs/accessor.h
+++ b/src/ray/gcs/accessor.h
@@ -650,6 +650,12 @@ class WorkerInfoAccessor {
       const std::unordered_map<std::string, std::string> &worker_info,
       const StatusCallback &callback) = 0;
 
+  /// Reestablish subscription.
+  /// This should be called when GCS server restarts from a failure.
+  ///
+  /// \return Status
+  virtual Status AsyncReSubscribe() = 0;
+
  protected:
   WorkerInfoAccessor() = default;
 };
diff --git a/src/ray/gcs/gcs_client/service_based_accessor.cc b/src/ray/gcs/gcs_client/service_based_accessor.cc
index f00b10a9e..c547fefe7 100644
--- a/src/ray/gcs/gcs_client/service_based_accessor.cc
+++ b/src/ray/gcs/gcs_client/service_based_accessor.cc
@@ -1212,15 +1212,26 @@ Status ServiceBasedWorkerInfoAccessor::AsyncSubscribeToWorkerFailures(
     const StatusCallback &done) {
   RAY_LOG(DEBUG) << "Subscribing worker failures.";
   RAY_CHECK(subscribe != nullptr);
-  auto on_subscribe = [subscribe](const std::string &id, const std::string &data) {
-    rpc::WorkerFailureData worker_failure_data;
-    worker_failure_data.ParseFromString(data);
-    subscribe(WorkerID::FromBinary(id), worker_failure_data);
+  subscribe_operation_ = [this, subscribe](const StatusCallback &done) {
+    auto on_subscribe = [subscribe](const std::string &id, const std::string &data) {
+      rpc::WorkerFailureData worker_failure_data;
+      worker_failure_data.ParseFromString(data);
+      subscribe(WorkerID::FromBinary(id), worker_failure_data);
+    };
+    auto status = client_impl_->GetGcsPubSub().SubscribeAll(WORKER_FAILURE_CHANNEL,
+                                                            on_subscribe, done);
+    RAY_LOG(DEBUG) << "Finished subscribing worker failures.";
+    return status;
   };
-  auto status = client_impl_->GetGcsPubSub().SubscribeAll(WORKER_FAILURE_CHANNEL,
-                                                          on_subscribe, done);
-  RAY_LOG(DEBUG) << "Finished subscribing worker failures.";
-  return status;
+  return subscribe_operation_(done);
+}
+
+Status ServiceBasedWorkerInfoAccessor::AsyncReSubscribe() {
+  RAY_LOG(INFO) << "Reestablishing subscription for worker failures.";
+  if (subscribe_operation_ != nullptr) {
+    return subscribe_operation_(nullptr);
+  }
+  return Status::OK();
 }
 
 Status ServiceBasedWorkerInfoAccessor::AsyncReportWorkerFailure(
diff --git a/src/ray/gcs/gcs_client/service_based_accessor.h b/src/ray/gcs/gcs_client/service_based_accessor.h
index 0115b17c5..2c1077f23 100644
--- a/src/ray/gcs/gcs_client/service_based_accessor.h
+++ b/src/ray/gcs/gcs_client/service_based_accessor.h
@@ -357,7 +357,13 @@ class ServiceBasedWorkerInfoAccessor : public WorkerInfoAccessor {
       const std::unordered_map<std::string, std::string> &worker_info,
       const StatusCallback &callback) override;
 
+  Status AsyncReSubscribe() override;
+
  private:
+  /// Save the subscribe operation in this function, so we can call it again when GCS
+  /// restarts from a failure.
+  SubscribeOperation subscribe_operation_;
+
   ServiceBasedGcsClient *client_impl_;
 };
 
diff --git a/src/ray/gcs/gcs_client/service_based_gcs_client.cc b/src/ray/gcs/gcs_client/service_based_gcs_client.cc
index 7b12db7d3..005b8c376 100644
--- a/src/ray/gcs/gcs_client/service_based_gcs_client.cc
+++ b/src/ray/gcs/gcs_client/service_based_gcs_client.cc
@@ -52,6 +52,7 @@ Status ServiceBasedGcsClient::Connect(boost::asio::io_service &io_service) {
     RAY_CHECK_OK(actor_accessor_->AsyncReSubscribe());
     RAY_CHECK_OK(node_accessor_->AsyncReSubscribe());
     RAY_CHECK_OK(task_accessor_->AsyncReSubscribe());
+    RAY_CHECK_OK(worker_accessor_->AsyncReSubscribe());
   };
 
   // Connect to gcs service.
diff --git a/src/ray/gcs/gcs_client/test/service_based_gcs_client_test.cc b/src/ray/gcs/gcs_client/test/service_based_gcs_client_test.cc
index ff0bad23b..7f0a3d212 100644
--- a/src/ray/gcs/gcs_client/test/service_based_gcs_client_test.cc
+++ b/src/ray/gcs/gcs_client/test/service_based_gcs_client_test.cc
@@ -961,6 +961,24 @@ TEST_F(ServiceBasedGcsClientTest, TestTaskTableReSubscribe) {
   WaitPendingDone(task_count, 1);
 }
 
+TEST_F(ServiceBasedGcsClientTest, TestWorkerTableReSubscribe) {
+  // Subscribe to all unexpected failure of workers from GCS.
+  std::atomic<int> worker_failure_count(0);
+  auto on_subscribe = [&worker_failure_count](const WorkerID &worker_id,
+                                              const rpc::WorkerFailureData &result) {
+    ++worker_failure_count;
+  };
+  ASSERT_TRUE(SubscribeToWorkerFailures(on_subscribe));
+
+  // Restart GCS
+  RestartGcsServer();
+
+  // Report a worker failure to GCS and check if resubscribe works.
+  auto worker_failure_data = Mocker::GenWorkerFailureData();
+  ASSERT_TRUE(ReportWorkerFailure(worker_failure_data));
+  WaitPendingDone(worker_failure_count, 1);
+}
+
 TEST_F(ServiceBasedGcsClientTest, TestGcsRedisFailureDetector) {
   // Stop redis.
   TestSetupUtil::ShutDownRedisServers();
diff --git a/src/ray/gcs/redis_accessor.h b/src/ray/gcs/redis_accessor.h
index 6a1bbc4be..42ea0f5f7 100644
--- a/src/ray/gcs/redis_accessor.h
+++ b/src/ray/gcs/redis_accessor.h
@@ -452,6 +452,8 @@ class RedisWorkerInfoAccessor : public WorkerInfoAccessor {
       const std::unordered_map<std::string, std::string> &worker_info,
       const StatusCallback &callback) override;
 
+  Status AsyncReSubscribe() override { return Status::NotImplemented(""); }
+
  private:
   RedisGcsClient *client_impl_{nullptr};