diff --git a/src/ra.erl b/src/ra.erl
index 1a00d4bbe..5d6669ebf 100644
--- a/src/ra.erl
+++ b/src/ra.erl
@@ -61,8 +61,10 @@
          %% membership changes
          add_member/2,
          add_member/3,
+         pipeline_add_member/4,
          remove_member/2,
          remove_member/3,
+         pipeline_remove_member/4,
          leave_and_terminate/3,
          leave_and_terminate/4,
          leave_and_delete_server/3,
@@ -613,6 +615,38 @@ add_member(ServerLoc, ServerId, Timeout) ->
                            {'$ra_join', ServerId, after_log_append},
                            Timeout).
 
+%% @doc Asynchronously add a ra server id to a ra cluster's membership
+%% configuration.
+%%
+%% This is the same operation as {@link add_member/2} but the membership
+%% change is pipelined in the same way as {@link pipeline_command/4}.
+%%
+%% @param ServerRef the ra server or servers to send the command to
+%% @param ServerId the ra server id of the server to remove
+%% @param Correlation a correlation identifier to be included to receive an
+%%        async notification after the command is applied to the state machine. If the
+%%        Correlation is set to `no_correlation' then no notifications will be sent.
+%% @param Priority command priority. `low' priority commands will be held back
+%%        and appended to the Raft log in batches. NB: A `normal' priority command sent
+%%        from the same process can overtake a low priority command that was
+%%        sent before. There is no high priority.
+%%        Only use priority level of `low' with commands that
+%%        do not rely on total execution ordering.
+%% @see add_member/2
+%% @end
+-spec pipeline_add_member(ServerRef :: ra_server_id() | [ra_server_id()],
+                          ServerId :: ra_server_id(),
+                          Correlation :: ra_server:command_correlation() |
+                          no_correlation,
+                          Priority :: ra_server:command_priority()) -> ok.
+pipeline_add_member(ServerRef, ServerId, no_correlation, Priority) ->
+    Cmd = {'$ra_join', ServerId, noreply},
+    ra_server_proc:cast_command(ServerRef, Priority, Cmd);
+pipeline_add_member(ServerRef, ServerId, Correlation, Priority) ->
+    Cmd = {'$ra_join', ServerId, {notify, Correlation, self()}},
+    ra_server_proc:cast_command(ServerRef, Priority, Cmd).
+
+
 %% @doc Removes a server from the cluster's membership configuration.
 %% This function returns after appending a cluster membership change
 %% command to the log.
@@ -647,6 +681,37 @@ remove_member(ServerRef, ServerId, Timeout) ->
                            {'$ra_leave', ServerId, after_log_append},
                            Timeout).
 
+%% @doc Asynchronously remove a ra server id from a ra cluster's membership
+%% configuration.
+%%
+%% This is the same operation as {@link remove_member/2} but the membership
+%% change is pipelined in the same way as {@link pipeline_command/4}.
+%%
+%% @param ServerRef the ra server or servers to send the command to
+%% @param ServerId the ra server id of the server to remove
+%% @param Correlation a correlation identifier to be included to receive an
+%%        async notification after the command is applied to the state machine. If the
+%%        Correlation is set to `no_correlation' then no notifications will be sent.
+%% @param Priority command priority. `low' priority commands will be held back
+%%        and appended to the Raft log in batches. NB: A `normal' priority command sent
+%%        from the same process can overtake a low priority command that was
+%%        sent before. There is no high priority.
+%%        Only use priority level of `low' with commands that
+%%        do not rely on total execution ordering.
+%% @see remove_member/2
+%% @end
+-spec pipeline_remove_member(ServerRef :: ra_server_id() | [ra_server_id()],
+                             ServerId :: ra_server_id(),
+                             Correlation :: ra_server:command_correlation() |
+                             no_correlation,
+                             Priority :: ra_server:command_priority()) -> ok.
+pipeline_remove_member(ServerRef, ServerId, no_correlation, Priority) ->
+    Cmd = {'$ra_leave', ServerId, noreply},
+    ra_server_proc:cast_command(ServerRef, Priority, Cmd);
+pipeline_remove_member(ServerRef, ServerId, Correlation, Priority) ->
+    Cmd = {'$ra_leave', ServerId, {notify, Correlation, self()}},
+    ra_server_proc:cast_command(ServerRef, Priority, Cmd).
+
 %% @doc Makes the server enter a pre-vote state and attempt to become the leader.
 %% It is necessary to call this function when starting a new cluster as a
 %% brand new Ra server (node) will not automatically enter the pre-vote state.
diff --git a/src/ra_server.erl b/src/ra_server.erl
index 61cc16940..00daf16fd 100644
--- a/src/ra_server.erl
+++ b/src/ra_server.erl
@@ -3518,6 +3518,8 @@ append_error_reply(Cmd, Reason, Effects0) ->
     case Cmd of
         {_, #{from := From}, _, _} ->
             [{reply, From, {error, Reason}} | Effects0];
+        {_, _, _, {notify, Corr, Pid}} ->
+            [{notify, #{Pid => [{Corr, {error, Reason}}]}} | Effects0];
         _ ->
             Effects0
     end.
diff --git a/test/ra_SUITE.erl b/test/ra_SUITE.erl
index d16812352..98f633572 100644
--- a/test/ra_SUITE.erl
+++ b/test/ra_SUITE.erl
@@ -60,6 +60,7 @@ all_tests() ->
      snapshot_installation,
      snapshot_installation_with_call_crash,
      add_member,
+     pipeline_membership_changes,
      queue_example,
      ramp_up_and_ramp_down,
      start_and_join_then_leave_and_terminate,
@@ -877,6 +878,31 @@ add_member(Config) ->
     {ok, 9, Leader} = ra:consistent_query(C, fun(S) -> S end),
     terminate_cluster([C | Cluster]).
 
+pipeline_membership_changes(Config) ->
+    Name = ?config(test_name, Config),
+    [A, B, C] = Cluster0 = start_local_cluster(3, Name, add_machine()),
+    {ok, _, Leader0} = ra:process_command(A, 9),
+    Corr1 = make_ref(),
+    ok = ra:pipeline_remove_member(Leader0, C, Corr1, normal),
+    [{Corr1, ok}] = gather_applied([], 0),
+    stop_server(C),
+    {ok, Members, Leader} = ra:members(A),
+    ?assertEqual(lists:sort(Members), lists:sort([A, B])),
+    %% Process a command to ensure that the cluster change command has
+    %% been committed - this prevents spurious failures of
+    %% `cluster_change_not_permitted` from the next leave command:
+    {ok, _, Leader} = ra:process_command(Leader, 4),
+    Corr2 = make_ref(),
+    ok = ra:pipeline_remove_member(Leader, C, Corr2, normal),
+    [{Corr2, {error, not_member}}] = gather_applied([], 0),
+    ok = ra:start_server(default, Name, C, add_machine(), [A, B]),
+    Corr3 = make_ref(),
+    ok = ra:pipeline_add_member(Leader, C, Corr3, normal),
+    [{Corr3, ok}] = gather_applied([], 0),
+    {ok, Members1, _Leader} = ra:members(Leader),
+    ?assertEqual(lists:sort(Members1), lists:sort(Cluster0)),
+    terminate_cluster(Cluster0).
+
 server_catches_up(Config) ->
     N1 = nth_server_name(Config, 1),
     N2 = nth_server_name(Config, 2),