diff --git a/doc/source/placement-group.rst b/doc/source/placement-group.rst
index 6fe8bc3a8..1424b850c 100644
--- a/doc/source/placement-group.rst
+++ b/doc/source/placement-group.rst
@@ -252,6 +252,42 @@ Note that you can anytime remove the placement group to clean up resources.
 
   ray.shutdown()
 
+Placement Group Lifetimes
+-------------------------
+
+.. tabs::
+  .. group-tab:: Python
+
+    By default, the lifetimes of placement groups are not detached and will be destroyed
+    when the driver is terminated (but, if it is created from a detached actor, it is 
+    killed when the detached actor is killed). If you'd like to keep the placement group 
+    alive regardless of its job or detached actor, you should specify 
+    `lifetime="detached"`. For example:
+
+    .. code-block:: python
+
+      # first_driver.py
+      pg = placement_group([{"CPU": 2}, {"CPU": 2}], strategy="STRICT_SPREAD", lifetime="detached")
+      ray.get(pg.ready())
+
+    The placement group's lifetime will be independent of the driver now. This means it 
+    is possible to retrieve the placement group from other drivers regardless of when 
+    the current driver exits. Let's see an example:
+
+    .. code-block:: python
+
+      # second_driver.py
+      table = ray.util.placement_group_table()
+      print(len(table))
+
+    Note that the lifetime option is decoupled from the name. If we only specified
+    the name without specifying ``lifetime="detached"``, then the placement group can
+    only be retrieved as long as the original driver is still running.
+
+  .. group-tab:: Java
+
+    The lifetime argument is not implemented for Java APIs yet.
+
 Tips for Using Placement Groups
 -------------------------------
 - Learn the :ref:`lifecycle <ray-placement-group-lifecycle-ref>` of placement groups.
diff --git a/python/ray/_raylet.pyx b/python/ray/_raylet.pyx
index 8ba80852f..0fc3f4bf2 100644
--- a/python/ray/_raylet.pyx
+++ b/python/ray/_raylet.pyx
@@ -1184,7 +1184,8 @@ cdef class CoreWorker:
                             self,
                             c_string name,
                             c_vector[unordered_map[c_string, double]] bundles,
-                            c_string strategy):
+                            c_string strategy,
+                            c_bool is_detached):
         cdef:
             CPlacementGroupID c_placement_group_id
             CPlacementStrategy c_strategy
@@ -1208,7 +1209,8 @@ cdef class CoreWorker:
                             CPlacementGroupCreationOptions(
                                 name,
                                 c_strategy,
-                                bundles
+                                bundles,
+                                is_detached
                             ),
                             &c_placement_group_id))
 
diff --git a/python/ray/actor.py b/python/ray/actor.py
index 499cd1eac..547a2929d 100644
--- a/python/ray/actor.py
+++ b/python/ray/actor.py
@@ -584,7 +584,9 @@ class ActorClass:
         elif lifetime == "detached":
             detached = True
         else:
-            raise ValueError("lifetime must be either `None` or 'detached'")
+            raise ValueError(
+                "actor `lifetime` argument must be either `None` or 'detached'"
+            )
 
         if placement_group_capture_child_tasks is None:
             placement_group_capture_child_tasks = (
diff --git a/python/ray/includes/common.pxd b/python/ray/includes/common.pxd
index a7ba4b23b..679ff6f0a 100644
--- a/python/ray/includes/common.pxd
+++ b/python/ray/includes/common.pxd
@@ -270,7 +270,8 @@ cdef extern from "ray/core_worker/common.h" nogil:
         CPlacementGroupCreationOptions(
             const c_string &name,
             CPlacementStrategy strategy,
-            const c_vector[unordered_map[c_string, double]] &bundles
+            const c_vector[unordered_map[c_string, double]] &bundles,
+            c_bool is_detached
         )
 
 cdef extern from "ray/gcs/gcs_client.h" nogil:
diff --git a/python/ray/tests/test_placement_group.py b/python/ray/tests/test_placement_group.py
index 7c5963f9e..87273a499 100644
--- a/python/ray/tests/test_placement_group.py
+++ b/python/ray/tests/test_placement_group.py
@@ -1309,6 +1309,119 @@ def test_schedule_placement_groups_at_the_same_time():
 
     wait_for_condition(is_all_placement_group_removed)
 
+    ray.shutdown()
+
+
+def test_detached_placement_group(ray_start_cluster):
+    cluster = ray_start_cluster
+    for _ in range(2):
+        cluster.add_node(num_cpus=3)
+    cluster.wait_for_nodes()
+    info = ray.init(address=cluster.address)
+
+    # Make sure detached placement group will alive when job dead.
+    driver_code = f"""
+import ray
+
+ray.init(address="{info["redis_address"]}")
+
+pg = ray.util.placement_group(
+        [{{"CPU": 1}} for _ in range(2)],
+        strategy="STRICT_SPREAD", lifetime="detached")
+ray.get(pg.ready())
+
+@ray.remote(num_cpus=1)
+class Actor:
+    def ready(self):
+        return True
+
+for bundle_index in range(2):
+    actor = Actor.options(lifetime="detached", placement_group=pg,
+                placement_group_bundle_index=bundle_index).remote()
+    ray.get(actor.ready.remote())
+
+ray.shutdown()
+    """
+
+    run_string_as_driver(driver_code)
+
+    # Wait until the driver is reported as dead by GCS.
+    def is_job_done():
+        jobs = ray.jobs()
+        for job in jobs:
+            if "StopTime" in job:
+                return True
+        return False
+
+    def assert_alive_num_pg(expected_num_pg):
+        alive_num_pg = 0
+        for _, placement_group_info in ray.util.placement_group_table().items(
+        ):
+            if placement_group_info["state"] == "CREATED":
+                alive_num_pg += 1
+        return alive_num_pg == expected_num_pg
+
+    def assert_alive_num_actor(expected_num_actor):
+        alive_num_actor = 0
+        for actor_info in ray.actors().values():
+            if actor_info["State"] == ray.gcs_utils.ActorTableData.ALIVE:
+                alive_num_actor += 1
+        return alive_num_actor == expected_num_actor
+
+    wait_for_condition(is_job_done)
+
+    assert assert_alive_num_pg(1)
+    assert assert_alive_num_actor(2)
+
+    # Make sure detached placement group will alive when its creator which
+    # is detached actor dead.
+    # Test actors first.
+    @ray.remote(num_cpus=1)
+    class NestedActor:
+        def ready(self):
+            return True
+
+    @ray.remote(num_cpus=1)
+    class Actor:
+        def __init__(self):
+            self.actors = []
+
+        def ready(self):
+            return True
+
+        def schedule_nested_actor_with_detached_pg(self):
+            # Create placement group which is detached.
+            pg = ray.util.placement_group(
+                [{
+                    "CPU": 1
+                } for _ in range(2)],
+                strategy="STRICT_SPREAD",
+                lifetime="detached",
+                name="detached_pg")
+            ray.get(pg.ready())
+            # Schedule nested actor with the placement group.
+            for bundle_index in range(2):
+                actor = NestedActor.options(
+                    placement_group=pg,
+                    placement_group_bundle_index=bundle_index,
+                    lifetime="detached").remote()
+                ray.get(actor.ready.remote())
+                self.actors.append(actor)
+
+    a = Actor.options(lifetime="detached").remote()
+    ray.get(a.ready.remote())
+    # 1 parent actor and 2 children actor.
+    ray.get(a.schedule_nested_actor_with_detached_pg.remote())
+
+    # Kill an actor and wait until it is killed.
+    ray.kill(a)
+    with pytest.raises(ray.exceptions.RayActorError):
+        ray.get(a.ready.remote())
+
+    # We should have 2 alive pgs and 4 alive actors.
+    assert assert_alive_num_pg(2)
+    assert assert_alive_num_actor(4)
+
 
 if __name__ == "__main__":
     sys.exit(pytest.main(["-v", __file__]))
diff --git a/python/ray/util/placement_group.py b/python/ray/util/placement_group.py
index be24772ab..6d15f607f 100644
--- a/python/ray/util/placement_group.py
+++ b/python/ray/util/placement_group.py
@@ -145,7 +145,8 @@ class PlacementGroup:
 
 def placement_group(bundles: List[Dict[str, float]],
                     strategy: str = "PACK",
-                    name: str = "unnamed_group") -> PlacementGroup:
+                    name: str = "unnamed_group",
+                    lifetime=None) -> PlacementGroup:
     """Asynchronously creates a PlacementGroup.
 
     Args:
@@ -160,6 +161,10 @@ def placement_group(bundles: List[Dict[str, float]],
          - "STRICT_SPREAD": Packs Bundles across distinct nodes.
 
         name(str): The name of the placement group.
+        lifetime(str): Either `None`, which defaults to the placement group
+            will fate share with its creator and will be deleted once its
+            creator is dead, or "detached", which means the placement group
+            will live as a global object independent of the creator.
 
     Return:
         PlacementGroup: Placement group object.
@@ -179,8 +184,16 @@ def placement_group(bundles: List[Dict[str, float]],
                 "Bundles cannot be an empty dictionary or "
                 f"resources with only 0 values. Bundles: {bundles}")
 
+    if lifetime is None:
+        detached = False
+    elif lifetime == "detached":
+        detached = True
+    else:
+        raise ValueError("placement group `lifetime` argument must be either"
+                         " `None` or 'detached'")
+
     placement_group_id = worker.core_worker.create_placement_group(
-        name, bundles, strategy)
+        name, bundles, strategy, detached)
 
     return PlacementGroup(placement_group_id)
 
diff --git a/src/ray/common/placement_group.h b/src/ray/common/placement_group.h
index a068ce4a1..532f69d74 100644
--- a/src/ray/common/placement_group.h
+++ b/src/ray/common/placement_group.h
@@ -67,8 +67,9 @@ class PlacementGroupSpecBuilder {
   PlacementGroupSpecBuilder &SetPlacementGroupSpec(
       const PlacementGroupID &placement_group_id, std::string name,
       const std::vector<std::unordered_map<std::string, double>> &bundles,
-      const rpc::PlacementStrategy strategy, const JobID &creator_job_id,
-      const ActorID &creator_actor_id, bool is_creator_detached_actor) {
+      const rpc::PlacementStrategy strategy, const bool is_detached,
+      const JobID &creator_job_id, const ActorID &creator_actor_id,
+      bool is_creator_detached_actor) {
     message_->set_placement_group_id(placement_group_id.Binary());
     message_->set_name(name);
     message_->set_strategy(strategy);
@@ -82,6 +83,7 @@ class PlacementGroupSpecBuilder {
     message_->set_creator_job_dead(is_creator_detached_actor);
     message_->set_creator_actor_id(creator_actor_id.Binary());
     message_->set_creator_actor_dead(creator_actor_id.IsNil());
+    message_->set_is_detached(is_detached);
 
     for (size_t i = 0; i < bundles.size(); i++) {
       auto resources = bundles[i];
diff --git a/src/ray/core_worker/common.h b/src/ray/core_worker/common.h
index 1716fe606..bb10aff95 100644
--- a/src/ray/core_worker/common.h
+++ b/src/ray/core_worker/common.h
@@ -144,8 +144,11 @@ using PlacementStrategy = rpc::PlacementStrategy;
 struct PlacementGroupCreationOptions {
   PlacementGroupCreationOptions(
       std::string name, PlacementStrategy strategy,
-      std::vector<std::unordered_map<std::string, double>> bundles)
-      : name(std::move(name)), strategy(strategy), bundles(std::move(bundles)) {}
+      std::vector<std::unordered_map<std::string, double>> bundles, bool is_detached)
+      : name(std::move(name)),
+        strategy(strategy),
+        bundles(std::move(bundles)),
+        is_detached(is_detached) {}
 
   /// The name of the placement group.
   const std::string name;
@@ -153,6 +156,8 @@ struct PlacementGroupCreationOptions {
   const PlacementStrategy strategy = rpc::PACK;
   /// The resource bundles in this placement group.
   const std::vector<std::unordered_map<std::string, double>> bundles;
+  /// Whether to keep the placement group persistent after its creator dead.
+  const bool is_detached = false;
 };
 
 }  // namespace ray
diff --git a/src/ray/core_worker/core_worker.cc b/src/ray/core_worker/core_worker.cc
index f7e473eca..2f5dcc57e 100644
--- a/src/ray/core_worker/core_worker.cc
+++ b/src/ray/core_worker/core_worker.cc
@@ -1463,8 +1463,8 @@ Status CoreWorker::CreatePlacementGroup(
   builder.SetPlacementGroupSpec(
       placement_group_id, placement_group_creation_options.name,
       placement_group_creation_options.bundles, placement_group_creation_options.strategy,
-      worker_context_.GetCurrentJobID(), worker_context_.GetCurrentActorID(),
-      worker_context_.CurrentActorDetached());
+      placement_group_creation_options.is_detached, worker_context_.GetCurrentJobID(),
+      worker_context_.GetCurrentActorID(), worker_context_.CurrentActorDetached());
   PlacementGroupSpecification placement_group_spec = builder.Build();
   *return_placement_group_id = placement_group_id;
   RAY_LOG(INFO) << "Submitting Placement Group creation to GCS: " << placement_group_id;
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 5470f70fb..cd374b76a 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
@@ -201,7 +201,8 @@ inline ray::PlacementGroupCreationOptions ToPlacementGroupCreationOptions(
             });
       });
   return ray::PlacementGroupCreationOptions(JavaStringToNativeString(env, name),
-                                            ConvertStrategy(java_strategy), bundles);
+                                            ConvertStrategy(java_strategy), bundles,
+                                            /*is_detached=*/false);
 }
 
 #ifdef __cplusplus
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 b56f6b1d3..a856002b6 100644
--- a/src/ray/gcs/gcs_server/gcs_placement_group_manager.cc
+++ b/src/ray/gcs/gcs_server/gcs_placement_group_manager.cc
@@ -96,11 +96,15 @@ void GcsPlacementGroup::MarkCreatorActorDead() {
   placement_group_table_data_.set_creator_actor_dead(true);
 }
 
-bool GcsPlacementGroup::IsPlacementGroupRemovable() const {
-  return placement_group_table_data_.creator_job_dead() &&
+bool GcsPlacementGroup::IsPlacementGroupLifetimeDone() const {
+  return !IsDetached() && placement_group_table_data_.creator_job_dead() &&
          placement_group_table_data_.creator_actor_dead();
 }
 
+bool GcsPlacementGroup::IsDetached() const {
+  return placement_group_table_data_.is_detached();
+}
+
 /////////////////////////////////////////////////////////////////////////////////////////
 
 GcsPlacementGroupManager::GcsPlacementGroupManager(
@@ -495,7 +499,7 @@ void GcsPlacementGroupManager::CleanPlacementGroupIfNeededWhenJobDead(
       continue;
     }
     placement_group->MarkCreatorJobDead();
-    if (placement_group->IsPlacementGroupRemovable()) {
+    if (placement_group->IsPlacementGroupLifetimeDone()) {
       RemovePlacementGroup(placement_group->GetPlacementGroupID(), [](Status status) {});
     }
   }
@@ -509,7 +513,7 @@ void GcsPlacementGroupManager::CleanPlacementGroupIfNeededWhenActorDead(
       continue;
     }
     placement_group->MarkCreatorActorDead();
-    if (placement_group->IsPlacementGroupRemovable()) {
+    if (placement_group->IsPlacementGroupLifetimeDone()) {
       RemovePlacementGroup(placement_group->GetPlacementGroupID(), [](Status status) {});
     }
   }
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 c76849108..28ce82090 100644
--- a/src/ray/gcs/gcs_server/gcs_placement_group_manager.h
+++ b/src/ray/gcs/gcs_server/gcs_placement_group_manager.h
@@ -61,6 +61,7 @@ class GcsPlacementGroup {
         placement_group_spec.creator_job_dead());
     placement_group_table_data_.set_creator_actor_dead(
         placement_group_spec.creator_actor_dead());
+    placement_group_table_data_.set_is_detached(placement_group_spec.is_detached());
   }
 
   /// Get the immutable PlacementGroupTableData of this placement group.
@@ -107,8 +108,11 @@ class GcsPlacementGroup {
   /// Mark that the creator actor of this placement group is dead.
   void MarkCreatorActorDead();
 
-  /// Return True if the placement group is removable. False otherwise.
-  bool IsPlacementGroupRemovable() const;
+  /// Return True if the placement group lifetime is done. False otherwise.
+  bool IsPlacementGroupLifetimeDone() const;
+
+  /// Returns whether or not this is a detached placement group.
+  bool IsDetached() const;
 
  private:
   /// The placement_group meta data which contains the task specification as well as the
diff --git a/src/ray/gcs/test/gcs_test_util.h b/src/ray/gcs/test/gcs_test_util.h
index bf908c3a2..4d51fdd86 100644
--- a/src/ray/gcs/test/gcs_test_util.h
+++ b/src/ray/gcs/test/gcs_test_util.h
@@ -101,8 +101,9 @@ struct Mocker {
     PlacementGroupSpecBuilder builder;
 
     auto placement_group_id = PlacementGroupID::FromRandom();
-    builder.SetPlacementGroupSpec(placement_group_id, name, bundles, strategy, job_id,
-                                  actor_id, /* is_creator_detached */ false);
+    builder.SetPlacementGroupSpec(placement_group_id, name, bundles, strategy,
+                                  /* is_detached */ false, job_id, actor_id,
+                                  /* is_creator_detached */ false);
     return builder.Build();
   }
 
diff --git a/src/ray/protobuf/common.proto b/src/ray/protobuf/common.proto
index cc3149e84..844f44bea 100644
--- a/src/ray/protobuf/common.proto
+++ b/src/ray/protobuf/common.proto
@@ -233,6 +233,8 @@ message PlacementGroupSpec {
   bool creator_job_dead = 7;
   // Whether or not if the creator actor is dead.
   bool creator_actor_dead = 8;
+  // Whether the placement group is persistent.
+  bool is_detached = 9;
 }
 
 message ObjectReference {
diff --git a/src/ray/protobuf/gcs.proto b/src/ray/protobuf/gcs.proto
index 1e59ae812..902c29cb7 100644
--- a/src/ray/protobuf/gcs.proto
+++ b/src/ray/protobuf/gcs.proto
@@ -191,6 +191,8 @@ message PlacementGroupTableData {
   bool creator_job_dead = 8;
   // Whether or not if the creator actor is dead.
   bool creator_actor_dead = 9;
+  // Whether the placement group is persistent.
+  bool is_detached = 10;
 }
 
 message ScheduleData {