diff --git a/cmd/thanos/query.go b/cmd/thanos/query.go
index 2c0539ffaa..3a917623d6 100644
--- a/cmd/thanos/query.go
+++ b/cmd/thanos/query.go
@@ -128,6 +128,9 @@ func registerQuery(app *extkingpin.App) {
 	endpoints := extkingpin.Addrs(cmd.Flag("endpoint", "Addresses of statically configured Thanos API servers (repeatable). The scheme may be prefixed with 'dns+' or 'dnssrv+' to detect Thanos API servers through respective DNS lookups.").
 		PlaceHolder("<endpoint>"))
 
+	endpointGroups := extkingpin.Addrs(cmd.Flag("endpoint-group", "Experimental: DNS name of statically configured Thanos API server groups (repeatable). Targets resolved from the DNS name will be queried in a round-robin, instead of a fanout manner. This flag should be used when connecting a Thanos Query to HA groups of Thanos components.").
+		PlaceHolder("<endpoint-group>"))
+
 	stores := extkingpin.Addrs(cmd.Flag("store", "Deprecation Warning - This flag is deprecated and replaced with `endpoint`. Addresses of statically configured store API servers (repeatable). The scheme may be prefixed with 'dns+' or 'dnssrv+' to detect store API servers through respective DNS lookups.").
 		PlaceHolder("<store>"))
 
@@ -151,6 +154,9 @@ func registerQuery(app *extkingpin.App) {
 	strictEndpoints := cmd.Flag("endpoint-strict", "Addresses of only statically configured Thanos API servers that are always used, even if the health check fails. Useful if you have a caching layer on top.").
 		PlaceHolder("<staticendpoint>").Strings()
 
+	strictEndpointGroups := extkingpin.Addrs(cmd.Flag("endpoint-group-strict", "Experimental: DNS name of statically configured Thanos API server groups (repeatable) that are always used, even if the health check fails.").
+		PlaceHolder("<endpoint-group-strict>"))
+
 	fileSDFiles := cmd.Flag("store.sd-files", "Path to files that contain addresses of store API servers. The path can be a glob pattern (repeatable).").
 		PlaceHolder("<path>").Strings()
 
@@ -291,6 +297,7 @@ func registerQuery(app *extkingpin.App) {
 			selectorLset,
 			getFlagsMap(cmd.Flags()),
 			*endpoints,
+			*endpointGroups,
 			*stores,
 			*ruleEndpoints,
 			*targetEndpoints,
@@ -312,6 +319,7 @@ func registerQuery(app *extkingpin.App) {
 			*defaultMetadataTimeRange,
 			*strictStores,
 			*strictEndpoints,
+			*strictEndpointGroups,
 			*webDisableCORS,
 			enableQueryPushdown,
 			*alertQueryURL,
@@ -367,6 +375,7 @@ func runQuery(
 	selectorLset labels.Labels,
 	flagsMap map[string]string,
 	endpointAddrs []string,
+	endpointGroupAddrs []string,
 	storeAddrs []string,
 	ruleAddrs []string,
 	targetAddrs []string,
@@ -388,6 +397,7 @@ func runQuery(
 	defaultMetadataTimeRange time.Duration,
 	strictStores []string,
 	strictEndpoints []string,
+	strictEndpointGroups []string,
 	disableCORS bool,
 	enableQueryPushdown bool,
 	alertQueryURL string,
@@ -500,6 +510,18 @@ func runQuery(
 					specs = append(specs, tmpSpecs...)
 				}
 
+				for _, eg := range endpointGroupAddrs {
+					addr := fmt.Sprintf("dns:///%s", eg)
+					spec := query.NewGRPCEndpointSpec(addr, false, extgrpc.EndpointGroupGRPCOpts()...)
+					specs = append(specs, spec)
+				}
+
+				for _, eg := range strictEndpointGroups {
+					addr := fmt.Sprintf("dns:///%s", eg)
+					spec := query.NewGRPCEndpointSpec(addr, true, extgrpc.EndpointGroupGRPCOpts()...)
+					specs = append(specs, spec)
+				}
+
 				return specs
 			},
 			dialOpts,
diff --git a/docs/components/query.md b/docs/components/query.md
index 9de81aab5a..b37dd9e9ea 100644
--- a/docs/components/query.md
+++ b/docs/components/query.md
@@ -280,6 +280,17 @@ Flags:
                                  prefixed with 'dns+' or 'dnssrv+' to detect
                                  Thanos API servers through respective DNS
                                  lookups.
+      --endpoint-group=<endpoint-group> ...
+                                 Experimental: DNS name of statically configured
+                                 Thanos API server groups (repeatable). Targets
+                                 resolved from the DNS name will be queried in
+                                 a round-robin, instead of a fanout manner.
+                                 This flag should be used when connecting a
+                                 Thanos Query to HA groups of Thanos components.
+      --endpoint-group-strict=<endpoint-group-strict> ...
+                                 Experimental: DNS name of statically configured
+                                 Thanos API server groups (repeatable) that are
+                                 always used, even if the health check fails.
       --endpoint-strict=<staticendpoint> ...
                                  Addresses of only statically configured Thanos
                                  API servers that are always used, even if
diff --git a/pkg/extgrpc/client.go b/pkg/extgrpc/client.go
index 7db0c8e570..564261268d 100644
--- a/pkg/extgrpc/client.go
+++ b/pkg/extgrpc/client.go
@@ -20,6 +20,27 @@ import (
 	"github.com/thanos-io/thanos/pkg/tracing"
 )
 
+// EndpointGroupGRPCOpts creates gRPC dial options for connecting to endpoint groups.
+// For details on retry capabilities, see https://github.com/grpc/proposal/blob/master/A6-client-retries.md#retry-policy-capabilities
+func EndpointGroupGRPCOpts() []grpc.DialOption {
+	serviceConfig := `
+{
+  "loadBalancingPolicy":"round_robin",
+  "retryPolicy": {
+    "maxAttempts": 3,
+    "initialBackoff": "0.1s",
+    "backoffMultiplier": 2,
+    "retryableStatusCodes": [
+  	  "UNAVAILABLE"
+    ]
+  }
+}`
+
+	return []grpc.DialOption{
+		grpc.WithDefaultServiceConfig(serviceConfig),
+	}
+}
+
 // StoreClientGRPCOpts creates gRPC dial options for connecting to a store client.
 func StoreClientGRPCOpts(logger log.Logger, reg *prometheus.Registry, tracer opentracing.Tracer, secure, skipVerify bool, cert, key, caCert, serverName string) ([]grpc.DialOption, error) {
 	grpcMets := grpc_prometheus.NewClientMetrics()
diff --git a/pkg/query/endpointset.go b/pkg/query/endpointset.go
index 03a0c1cb29..0a2d21cf2b 100644
--- a/pkg/query/endpointset.go
+++ b/pkg/query/endpointset.go
@@ -48,14 +48,19 @@ const (
 type GRPCEndpointSpec struct {
 	addr           string
 	isStrictStatic bool
+	dialOpts       []grpc.DialOption
 }
 
 const externalLabelLimit = 1000
 
 // NewGRPCEndpointSpec creates gRPC endpoint spec.
 // It uses InfoAPI to get Metadata.
-func NewGRPCEndpointSpec(addr string, isStrictStatic bool) *GRPCEndpointSpec {
-	return &GRPCEndpointSpec{addr: addr, isStrictStatic: isStrictStatic}
+func NewGRPCEndpointSpec(addr string, isStrictStatic bool, dialOpts ...grpc.DialOption) *GRPCEndpointSpec {
+	return &GRPCEndpointSpec{
+		addr:           addr,
+		isStrictStatic: isStrictStatic,
+		dialOpts:       dialOpts,
+	}
 }
 
 func (es *GRPCEndpointSpec) Addr() string {
@@ -622,7 +627,8 @@ type endpointRef struct {
 // newEndpointRef creates a new endpointRef with a gRPC channel to the given the IP address.
 // The call to newEndpointRef will return an error if establishing the channel fails.
 func (e *EndpointSet) newEndpointRef(ctx context.Context, spec *GRPCEndpointSpec) (*endpointRef, error) {
-	conn, err := grpc.DialContext(ctx, spec.Addr(), e.dialOpts...)
+	dialOpts := append(e.dialOpts, spec.dialOpts...)
+	conn, err := grpc.DialContext(ctx, spec.Addr(), dialOpts...)
 	if err != nil {
 		return nil, errors.Wrap(err, "dialing connection")
 	}