diff --git a/store/copr/coprocessor.go b/store/copr/coprocessor.go
index a4cea914c3aa9..390c5ffe8e63a 100644
--- a/store/copr/coprocessor.go
+++ b/store/copr/coprocessor.go
@@ -140,7 +140,7 @@ func (c *CopClient) BuildCopIterator(ctx context.Context, req *kv.Request, vars
 		// disable batch copr for follower read
 		req.StoreBatchSize = 0
 	}
-	// disable paging for batch copr
+	// disable batch copr when paging is enabled.
 	if req.Paging.Enable {
 		req.StoreBatchSize = 0
 	}
@@ -315,13 +315,13 @@ func buildCopTasks(bo *Backoffer, cache *RegionCache, ranges *KeyRanges, req *kv
 		chanSize = 18
 	}
 
-	tasks := make([]*copTask, 0, len(locs))
-	origRangeIdx := 0
-	taskID := uint64(0)
-	var store2Idx map[uint64]int
+	var builder taskBuilder
 	if req.StoreBatchSize > 0 {
-		store2Idx = make(map[uint64]int, 16)
+		builder = newBatchTaskBuilder(bo, req, cache)
+	} else {
+		builder = newLegacyTaskBuilder(len(locs))
 	}
+	origRangeIdx := 0
 	for _, loc := range locs {
 		// TiKV will return gRPC error if the message is too large. So we need to limit the length of the ranges slice
 		// to make sure the message can be sent successfully.
@@ -357,7 +357,6 @@ func buildCopTasks(bo *Backoffer, cache *RegionCache, ranges *KeyRanges, req *kv
 				}
 			}
 			task := &copTask{
-				taskID:        taskID,
 				region:        loc.Location.Region,
 				bucketsVer:    loc.getBucketVersion(),
 				ranges:        loc.Ranges.Slice(i, nextI),
@@ -370,50 +369,138 @@ func buildCopTasks(bo *Backoffer, cache *RegionCache, ranges *KeyRanges, req *kv
 				requestSource: req.RequestSource,
 				RowCountHint:  hint,
 			}
-			if req.StoreBatchSize > 0 {
-				batchedTask, err := cache.BuildBatchTask(bo, task, req.ReplicaRead)
-				if err != nil {
-					return nil, err
-				}
-				if idx, ok := store2Idx[batchedTask.storeID]; !ok || len(tasks[idx].batchTaskList) >= req.StoreBatchSize {
-					tasks = append(tasks, batchedTask.task)
-					store2Idx[batchedTask.storeID] = len(tasks) - 1
-				} else {
-					if tasks[idx].batchTaskList == nil {
-						tasks[idx].batchTaskList = make(map[uint64]*batchedCopTask, req.StoreBatchSize)
-						// disable paging for batched task.
-						tasks[idx].paging = false
-						tasks[idx].pagingSize = 0
-					}
-					if task.RowCountHint > 0 {
-						tasks[idx].RowCountHint += task.RowCountHint
-					}
-					tasks[idx].batchTaskList[taskID] = batchedTask
-				}
-			} else {
-				tasks = append(tasks, task)
+			if err = builder.handle(task); err != nil {
+				return nil, err
 			}
 			i = nextI
 			if req.Paging.Enable {
 				pagingSize = paging.GrowPagingSize(pagingSize, req.Paging.MaxPagingSize)
 			}
-			taskID++
 		}
 	}
 
 	if req.Desc {
-		reverseTasks(tasks)
+		builder.reverse()
 	}
+	tasks := builder.build()
 	if elapsed := time.Since(start); elapsed > time.Millisecond*500 {
 		logutil.BgLogger().Warn("buildCopTasks takes too much time",
 			zap.Duration("elapsed", elapsed),
 			zap.Int("range len", rangesLen),
 			zap.Int("task len", len(tasks)))
 	}
-	metrics.TxnRegionsNumHistogramWithCoprocessor.Observe(float64(len(tasks)))
+	metrics.TxnRegionsNumHistogramWithCoprocessor.Observe(float64(builder.regionNum()))
 	return tasks, nil
 }
 
+type taskBuilder interface {
+	handle(*copTask) error
+	reverse()
+	build() []*copTask
+	regionNum() int
+}
+
+type legacyTaskBuilder struct {
+	tasks []*copTask
+}
+
+func newLegacyTaskBuilder(hint int) *legacyTaskBuilder {
+	return &legacyTaskBuilder{
+		tasks: make([]*copTask, 0, hint),
+	}
+}
+
+func (b *legacyTaskBuilder) handle(task *copTask) error {
+	b.tasks = append(b.tasks, task)
+	return nil
+}
+
+func (b *legacyTaskBuilder) regionNum() int {
+	return len(b.tasks)
+}
+
+func (b *legacyTaskBuilder) reverse() {
+	reverseTasks(b.tasks)
+}
+
+func (b *legacyTaskBuilder) build() []*copTask {
+	return b.tasks
+}
+
+type batchStoreTaskBuilder struct {
+	bo        *Backoffer
+	req       *kv.Request
+	cache     *RegionCache
+	taskID    uint64
+	limit     int
+	store2Idx map[uint64]int
+	tasks     []*copTask
+}
+
+func newBatchTaskBuilder(bo *Backoffer, req *kv.Request, cache *RegionCache) *batchStoreTaskBuilder {
+	return &batchStoreTaskBuilder{
+		bo:        bo,
+		req:       req,
+		cache:     cache,
+		taskID:    0,
+		limit:     req.StoreBatchSize,
+		store2Idx: make(map[uint64]int, 16),
+		tasks:     make([]*copTask, 0, 16),
+	}
+}
+
+func (b *batchStoreTaskBuilder) handle(task *copTask) (err error) {
+	b.taskID++
+	task.taskID = b.taskID
+	handled := false
+	defer func() {
+		if !handled && err == nil {
+			// fallback to non-batch way. It's mainly caused by region miss.
+			b.tasks = append(b.tasks, task)
+		}
+	}()
+	if b.limit <= 0 {
+		return nil
+	}
+	batchedTask, err := b.cache.BuildBatchTask(b.bo, task, b.req.ReplicaRead)
+	if err != nil {
+		return err
+	}
+	if batchedTask == nil {
+		return nil
+	}
+	if idx, ok := b.store2Idx[batchedTask.storeID]; !ok || len(b.tasks[idx].batchTaskList) >= b.limit {
+		b.tasks = append(b.tasks, batchedTask.task)
+		b.store2Idx[batchedTask.storeID] = len(b.tasks) - 1
+	} else {
+		if b.tasks[idx].batchTaskList == nil {
+			b.tasks[idx].batchTaskList = make(map[uint64]*batchedCopTask, b.limit)
+			// disable paging for batched task.
+			b.tasks[idx].paging = false
+			b.tasks[idx].pagingSize = 0
+		}
+		if task.RowCountHint > 0 {
+			b.tasks[idx].RowCountHint += task.RowCountHint
+		}
+		b.tasks[idx].batchTaskList[task.taskID] = batchedTask
+	}
+	handled = true
+	return nil
+}
+
+func (b *batchStoreTaskBuilder) regionNum() int {
+	// we allocate b.taskID for each region task, so the final b.taskID is equal to the related region number.
+	return int(b.taskID)
+}
+
+func (b *batchStoreTaskBuilder) reverse() {
+	reverseTasks(b.tasks)
+}
+
+func (b *batchStoreTaskBuilder) build() []*copTask {
+	return b.tasks
+}
+
 func buildTiDBMemCopTasks(ranges *KeyRanges, req *kv.Request) ([]*copTask, error) {
 	servers, err := infosync.GetAllServerInfo(context.Background())
 	if err != nil {
@@ -1138,13 +1225,13 @@ func (worker *copIteratorWorker) handleCopResponse(bo *Backoffer, rpcCtx *tikv.R
 		if err != nil {
 			return remains, err
 		}
-		return worker.handleBatchRemainsOnErr(bo, remains, resp.pbResp.BatchResponses, task, ch)
+		return worker.handleBatchRemainsOnErr(bo, remains, resp.pbResp.GetBatchResponses(), task, ch)
 	}
 	if lockErr := resp.pbResp.GetLocked(); lockErr != nil {
 		if err := worker.handleLockErr(bo, lockErr, task); err != nil {
 			return nil, err
 		}
-		return worker.handleBatchRemainsOnErr(bo, []*copTask{task}, resp.pbResp.BatchResponses, task, ch)
+		return worker.handleBatchRemainsOnErr(bo, []*copTask{task}, resp.pbResp.GetBatchResponses(), task, ch)
 	}
 	if otherErr := resp.pbResp.GetOtherError(); otherErr != "" {
 		err := errors.Errorf("other error: %s", otherErr)
@@ -1250,16 +1337,26 @@ func (worker *copIteratorWorker) handleBatchRemainsOnErr(bo *Backoffer, remains
 }
 
 // handle the batched cop response.
+// tasks will be changed, so the input tasks should not be used after calling this function.
 func (worker *copIteratorWorker) handleBatchCopResponse(bo *Backoffer, batchResps []*coprocessor.StoreBatchTaskResponse, tasks map[uint64]*batchedCopTask, ch chan<- *copResponse) ([]*copTask, error) {
 	if len(tasks) == 0 {
 		return nil, nil
 	}
 	var remainTasks []*copTask
+	appendRemainTasks := func(tasks ...*copTask) {
+		if remainTasks == nil {
+			// allocate size fo remain length
+			remainTasks = make([]*copTask, 0, len(tasks))
+		}
+		remainTasks = append(remainTasks, tasks...)
+	}
 	for _, batchResp := range batchResps {
-		batchedTask, ok := tasks[batchResp.GetTaskId()]
+		taskID := batchResp.GetTaskId()
+		batchedTask, ok := tasks[taskID]
 		if !ok {
 			return nil, errors.Errorf("task id %d not found", batchResp.GetTaskId())
 		}
+		delete(tasks, taskID)
 		resp := &copResponse{
 			pbResp: &coprocessor.Response{
 				Data: batchResp.Data,
@@ -1276,7 +1373,7 @@ func (worker *copIteratorWorker) handleBatchCopResponse(bo *Backoffer, batchResp
 			if err != nil {
 				return nil, err
 			}
-			remainTasks = append(remainTasks, remains...)
+			appendRemainTasks(remains...)
 			continue
 		}
 		//TODO: handle locks in batch
@@ -1284,7 +1381,7 @@ func (worker *copIteratorWorker) handleBatchCopResponse(bo *Backoffer, batchResp
 			if err := worker.handleLockErr(bo, resp.pbResp.GetLocked(), task); err != nil {
 				return nil, err
 			}
-			remainTasks = append(remainTasks, task)
+			appendRemainTasks(task)
 			continue
 		}
 		if otherErr := batchResp.GetOtherError(); otherErr != "" {
@@ -1312,6 +1409,24 @@ func (worker *copIteratorWorker) handleBatchCopResponse(bo *Backoffer, batchResp
 		// TODO: check OOM
 		worker.sendToRespCh(resp, ch, false)
 	}
+	for _, t := range tasks {
+		task := t.task
+		// when the error is generated by client, response is empty, skip warning for this case.
+		if len(batchResps) != 0 {
+			firstRangeStartKey := task.ranges.At(0).StartKey
+			lastRangeEndKey := task.ranges.At(task.ranges.Len() - 1).EndKey
+			logutil.Logger(bo.GetCtx()).Error("response of batched task missing",
+				zap.Uint64("id", task.taskID),
+				zap.Uint64("txnStartTS", worker.req.StartTs),
+				zap.Uint64("regionID", task.region.GetID()),
+				zap.Uint64("bucketsVer", task.bucketsVer),
+				zap.Int("rangeNums", task.ranges.Len()),
+				zap.ByteString("firstRangeStartKey", firstRangeStartKey),
+				zap.ByteString("lastRangeEndKey", lastRangeEndKey),
+				zap.String("storeAddr", task.storeAddr))
+		}
+		appendRemainTasks(t.task)
+	}
 	return remainTasks, nil
 }
 
diff --git a/store/copr/region_cache.go b/store/copr/region_cache.go
index a3fd20e036d43..97c3d705c223b 100644
--- a/store/copr/region_cache.go
+++ b/store/copr/region_cache.go
@@ -18,7 +18,6 @@ import (
 	"bytes"
 	"strconv"
 
-	"github.com/pingcap/errors"
 	"github.com/pingcap/kvproto/pkg/coprocessor"
 	"github.com/pingcap/kvproto/pkg/metapb"
 	"github.com/pingcap/log"
@@ -210,8 +209,9 @@ func (c *RegionCache) BuildBatchTask(bo *Backoffer, task *copTask, replicaRead k
 	if err != nil {
 		return nil, err
 	}
+	// fallback to non-batch path
 	if rpcContext == nil {
-		return nil, errors.Errorf("region %s missing", task.region.String())
+		return nil, nil
 	}
 	return &batchedCopTask{
 		task: task,