diff --git a/cmd/frostfs-node/accounting.go b/cmd/frostfs-node/accounting.go
index d04f34ff1..ec737f8a0 100644
--- a/cmd/frostfs-node/accounting.go
+++ b/cmd/frostfs-node/accounting.go
@@ -2,12 +2,14 @@ package main
 
 import (
 	"context"
+	"net"
 
 	accountingGRPC "git.frostfs.info/TrueCloudLab/frostfs-api-go/v2/accounting/grpc"
 	"git.frostfs.info/TrueCloudLab/frostfs-node/pkg/morph/client/balance"
 	accountingTransportGRPC "git.frostfs.info/TrueCloudLab/frostfs-node/pkg/network/transport/accounting/grpc"
 	accountingService "git.frostfs.info/TrueCloudLab/frostfs-node/pkg/services/accounting"
 	accounting "git.frostfs.info/TrueCloudLab/frostfs-node/pkg/services/accounting/morph"
+	"google.golang.org/grpc"
 )
 
 func initAccountingService(ctx context.Context, c *cfg) {
@@ -28,7 +30,7 @@ func initAccountingService(ctx context.Context, c *cfg) {
 		),
 	)
 
-	for _, srv := range c.cfgGRPC.servers {
-		accountingGRPC.RegisterAccountingServiceServer(srv, server)
-	}
+	c.cfgGRPC.performAndSave(func(_ string, _ net.Listener, s *grpc.Server) {
+		accountingGRPC.RegisterAccountingServiceServer(s, server)
+	})
 }
diff --git a/cmd/frostfs-node/config.go b/cmd/frostfs-node/config.go
index 27c028bae..e887c2e6c 100644
--- a/cmd/frostfs-node/config.go
+++ b/cmd/frostfs-node/config.go
@@ -460,18 +460,80 @@ func (c *cfg) ReadCurrentNetMap(msg *netmapV2.NetMap) error {
 	return nil
 }
 
+type grpcServer struct {
+	Listener net.Listener
+	Server   *grpc.Server
+	Endpoint string
+}
+
 type cfgGRPC struct {
-	listeners []net.Listener
-
-	servers []*grpc.Server
-
-	endpoints []string
-
-	maxChunkSize uint64
+	// guard protects connections and handlers
+	guard sync.RWMutex
+	// servers must be protected with guard
+	servers []grpcServer
+	// handlers must be protected with guard
+	handlers []func(e string, l net.Listener, s *grpc.Server)
 
+	maxChunkSize  uint64
 	maxAddrAmount uint64
 }
 
+func (c *cfgGRPC) append(e string, l net.Listener, s *grpc.Server) {
+	c.guard.Lock()
+	defer c.guard.Unlock()
+
+	c.servers = append(c.servers, grpcServer{
+		Listener: l,
+		Server:   s,
+		Endpoint: e,
+	})
+}
+
+func (c *cfgGRPC) appendAndHandle(e string, l net.Listener, s *grpc.Server) {
+	c.guard.Lock()
+	defer c.guard.Unlock()
+
+	c.servers = append(c.servers, grpcServer{
+		Listener: l,
+		Server:   s,
+		Endpoint: e,
+	})
+
+	for _, h := range c.handlers {
+		h(e, l, s)
+	}
+}
+
+func (c *cfgGRPC) performAndSave(handler func(e string, l net.Listener, s *grpc.Server)) {
+	c.guard.Lock()
+	defer c.guard.Unlock()
+
+	for _, conn := range c.servers {
+		handler(conn.Endpoint, conn.Listener, conn.Server)
+	}
+
+	c.handlers = append(c.handlers, handler)
+}
+
+func (c *cfgGRPC) dropConnection(endpoint string) {
+	c.guard.Lock()
+	defer c.guard.Unlock()
+
+	pos := -1
+	for idx, srv := range c.servers {
+		if srv.Endpoint == endpoint {
+			pos = idx
+			break
+		}
+	}
+	if pos < 0 {
+		return
+	}
+
+	c.servers[pos].Server.Stop() // closes listener
+	c.servers = append(c.servers[0:pos], c.servers[pos+1:]...)
+}
+
 type cfgMorph struct {
 	client *client.Client
 
@@ -1232,7 +1294,7 @@ func (c *cfg) shutdown() {
 	}
 
 	c.ctxCancel()
-	c.done <- struct{}{}
+	close(c.done)
 	for i := range c.closers {
 		c.closers[len(c.closers)-1-i].fn()
 	}
diff --git a/cmd/frostfs-node/config/grpc/config.go b/cmd/frostfs-node/config/grpc/config.go
index c25d2e717..37dd76426 100644
--- a/cmd/frostfs-node/config/grpc/config.go
+++ b/cmd/frostfs-node/config/grpc/config.go
@@ -3,6 +3,7 @@ package grpcconfig
 import (
 	"errors"
 	"strconv"
+	"time"
 
 	"git.frostfs.info/TrueCloudLab/frostfs-node/cmd/frostfs-node/config"
 )
@@ -109,3 +110,17 @@ func IterateEndpoints(c *config.Config, f func(*Config)) {
 		panic("no gRPC server configured")
 	}
 }
+
+const DefaultReconnectInterval = time.Minute
+
+// ReconnectTimeout returns the value of "reconnect_interval" gRPC config parameter.
+//
+// Returns DefaultReconnectInterval if value is not defined or invalid.
+func ReconnectTimeout(c *config.Config) time.Duration {
+	grpcConf := c.Sub("grpc")
+	ri := config.DurationSafe(grpcConf, "reconnect_interval")
+	if ri > 0 {
+		return ri
+	}
+	return DefaultReconnectInterval
+}
diff --git a/cmd/frostfs-node/container.go b/cmd/frostfs-node/container.go
index 5477947d7..4fc7f5649 100644
--- a/cmd/frostfs-node/container.go
+++ b/cmd/frostfs-node/container.go
@@ -3,6 +3,7 @@ package main
 import (
 	"bytes"
 	"context"
+	"net"
 
 	containerGRPC "git.frostfs.info/TrueCloudLab/frostfs-api-go/v2/container/grpc"
 	"git.frostfs.info/TrueCloudLab/frostfs-node/internal/logs"
@@ -16,6 +17,7 @@ import (
 	cid "git.frostfs.info/TrueCloudLab/frostfs-sdk-go/container/id"
 	"git.frostfs.info/TrueCloudLab/frostfs-sdk-go/user"
 	"go.uber.org/zap"
+	"google.golang.org/grpc"
 )
 
 func initContainerService(_ context.Context, c *cfg) {
@@ -37,9 +39,9 @@ func initContainerService(_ context.Context, c *cfg) {
 		),
 	)
 
-	for _, srv := range c.cfgGRPC.servers {
-		containerGRPC.RegisterContainerServiceServer(srv, server)
-	}
+	c.cfgGRPC.performAndSave(func(_ string, _ net.Listener, s *grpc.Server) {
+		containerGRPC.RegisterContainerServiceServer(s, server)
+	})
 }
 
 func configureEACLAndContainerSources(c *cfg, client *cntClient.Client, cnrSrc containerCore.Source) (*morphContainerReader, *morphContainerWriter) {
diff --git a/cmd/frostfs-node/grpc.go b/cmd/frostfs-node/grpc.go
index 74df7a18f..cc78440bf 100644
--- a/cmd/frostfs-node/grpc.go
+++ b/cmd/frostfs-node/grpc.go
@@ -3,7 +3,6 @@ package main
 import (
 	"crypto/tls"
 	"errors"
-	"fmt"
 	"net"
 	"time"
 
@@ -20,91 +19,154 @@ import (
 const maxRecvMsgSize = 256 << 20
 
 func initGRPC(c *cfg) {
+	var endpointsToReconnect []string
 	var successCount int
 	grpcconfig.IterateEndpoints(c.appCfg, func(sc *grpcconfig.Config) {
-		serverOpts := []grpc.ServerOption{
-			grpc.MaxRecvMsgSize(maxRecvMsgSize),
-			grpc.ChainUnaryInterceptor(
-				metrics.NewUnaryServerInterceptor(),
-				tracing.NewUnaryServerInterceptor(),
-			),
-			grpc.ChainStreamInterceptor(
-				metrics.NewStreamServerInterceptor(),
-				tracing.NewStreamServerInterceptor(),
-			),
-		}
-
-		tlsCfg := sc.TLS()
-
-		if tlsCfg != nil {
-			cert, err := tls.LoadX509KeyPair(tlsCfg.CertificateFile(), tlsCfg.KeyFile())
-			if err != nil {
-				c.log.Error(logs.FrostFSNodeCouldNotReadCertificateFromFile, zap.Error(err))
-				return
-			}
-
-			var cipherSuites []uint16
-			if !tlsCfg.UseInsecureCrypto() {
-				// This more or less follows the list in https://wiki.mozilla.org/Security/Server_Side_TLS
-				// excluding:
-				// 1. TLS 1.3 suites need not be specified here.
-				// 2. Suites that use DH key exchange are not implemented by stdlib.
-				cipherSuites = []uint16{
-					tls.TLS_ECDHE_RSA_WITH_AES_128_GCM_SHA256,
-					tls.TLS_ECDHE_ECDSA_WITH_AES_128_GCM_SHA256,
-					tls.TLS_ECDHE_RSA_WITH_AES_256_GCM_SHA384,
-					tls.TLS_ECDHE_ECDSA_WITH_AES_256_GCM_SHA384,
-					tls.TLS_ECDHE_RSA_WITH_CHACHA20_POLY1305_SHA256,
-					tls.TLS_ECDHE_ECDSA_WITH_CHACHA20_POLY1305_SHA256,
-				}
-			}
-			creds := credentials.NewTLS(&tls.Config{
-				MinVersion:   tls.VersionTLS12,
-				CipherSuites: cipherSuites,
-				Certificates: []tls.Certificate{cert},
-			})
-
-			serverOpts = append(serverOpts, grpc.Creds(creds))
+		serverOpts, ok := getGrpcServerOpts(c, sc)
+		if !ok {
+			return
 		}
 
 		lis, err := net.Listen("tcp", sc.Endpoint())
 		if err != nil {
 			c.metricsCollector.GrpcServerMetrics().MarkUnhealthy(sc.Endpoint())
 			c.log.Error(logs.FrostFSNodeCantListenGRPCEndpoint, zap.Error(err))
+			endpointsToReconnect = append(endpointsToReconnect, sc.Endpoint())
 			return
 		}
 		c.metricsCollector.GrpcServerMetrics().MarkHealthy(sc.Endpoint())
 
-		c.cfgGRPC.listeners = append(c.cfgGRPC.listeners, lis)
-		c.cfgGRPC.endpoints = append(c.cfgGRPC.endpoints, sc.Endpoint())
-
 		srv := grpc.NewServer(serverOpts...)
 
 		c.onShutdown(func() {
 			stopGRPC("FrostFS Public API", srv, c.log)
 		})
 
-		c.cfgGRPC.servers = append(c.cfgGRPC.servers, srv)
+		c.cfgGRPC.append(sc.Endpoint(), lis, srv)
 		successCount++
 	})
 
 	if successCount == 0 {
 		fatalOnErr(errors.New("could not listen to any gRPC endpoints"))
 	}
+
+	for _, endpoint := range endpointsToReconnect {
+		scheduleReconnect(endpoint, c)
+	}
+}
+
+func scheduleReconnect(endpoint string, c *cfg) {
+	c.wg.Add(1)
+	go func() {
+		defer c.wg.Done()
+
+		timeout := grpcconfig.ReconnectTimeout(c.appCfg)
+		t := time.NewTicker(timeout)
+		for {
+			select {
+			case <-t.C:
+				c.log.Info(logs.FrostFSNodeGRPCReconnecting, zap.String("endpoint", endpoint))
+				var success, found bool
+				grpcconfig.IterateEndpoints(c.appCfg, func(sc *grpcconfig.Config) {
+					if sc.Endpoint() != endpoint {
+						return
+					}
+					found = true
+					serverOpts, ok := getGrpcServerOpts(c, sc)
+					if !ok {
+						return
+					}
+					lis, err := net.Listen("tcp", sc.Endpoint())
+					if err != nil {
+						c.metricsCollector.GrpcServerMetrics().MarkUnhealthy(sc.Endpoint())
+						c.log.Error(logs.FrostFSNodeCantListenGRPCEndpoint, zap.Error(err))
+						return
+					}
+					c.metricsCollector.GrpcServerMetrics().MarkHealthy(sc.Endpoint())
+
+					srv := grpc.NewServer(serverOpts...)
+
+					c.onShutdown(func() {
+						stopGRPC("FrostFS Public API", srv, c.log)
+					})
+
+					c.cfgGRPC.appendAndHandle(sc.Endpoint(), lis, srv)
+					success = true
+				})
+				if !found {
+					c.log.Warn(logs.FrostFSNodeGRPCServerConfigNotFound, zap.String("endpoint", endpoint))
+					return
+				}
+
+				if success {
+					c.log.Info(logs.FrostFSNodeGRPCReconnectedSuccessfully, zap.String("endpoint", endpoint))
+					return
+				}
+				c.log.Warn(logs.FrostFSNodeGRPCReconnectFailed, zap.Duration("next_try_in", timeout))
+			case <-c.done:
+				return
+			}
+		}
+	}()
+}
+
+func getGrpcServerOpts(c *cfg, sc *grpcconfig.Config) ([]grpc.ServerOption, bool) {
+	serverOpts := []grpc.ServerOption{
+		grpc.MaxRecvMsgSize(maxRecvMsgSize),
+		grpc.ChainUnaryInterceptor(
+			metrics.NewUnaryServerInterceptor(),
+			tracing.NewUnaryServerInterceptor(),
+		),
+		grpc.ChainStreamInterceptor(
+			metrics.NewStreamServerInterceptor(),
+			tracing.NewStreamServerInterceptor(),
+		),
+	}
+
+	tlsCfg := sc.TLS()
+
+	if tlsCfg != nil {
+		cert, err := tls.LoadX509KeyPair(tlsCfg.CertificateFile(), tlsCfg.KeyFile())
+		if err != nil {
+			c.log.Error(logs.FrostFSNodeCouldNotReadCertificateFromFile, zap.Error(err))
+			return nil, false
+		}
+
+		var cipherSuites []uint16
+		if !tlsCfg.UseInsecureCrypto() {
+			// This more or less follows the list in https://wiki.mozilla.org/Security/Server_Side_TLS
+			// excluding:
+			// 1. TLS 1.3 suites need not be specified here.
+			// 2. Suites that use DH key exchange are not implemented by stdlib.
+			cipherSuites = []uint16{
+				tls.TLS_ECDHE_RSA_WITH_AES_128_GCM_SHA256,
+				tls.TLS_ECDHE_ECDSA_WITH_AES_128_GCM_SHA256,
+				tls.TLS_ECDHE_RSA_WITH_AES_256_GCM_SHA384,
+				tls.TLS_ECDHE_ECDSA_WITH_AES_256_GCM_SHA384,
+				tls.TLS_ECDHE_RSA_WITH_CHACHA20_POLY1305_SHA256,
+				tls.TLS_ECDHE_ECDSA_WITH_CHACHA20_POLY1305_SHA256,
+			}
+		}
+		creds := credentials.NewTLS(&tls.Config{
+			MinVersion:   tls.VersionTLS12,
+			CipherSuites: cipherSuites,
+			Certificates: []tls.Certificate{cert},
+		})
+
+		serverOpts = append(serverOpts, grpc.Creds(creds))
+	}
+
+	return serverOpts, true
 }
 
 func serveGRPC(c *cfg) {
-	for i := range c.cfgGRPC.servers {
+	c.cfgGRPC.performAndSave(func(e string, l net.Listener, s *grpc.Server) {
 		c.wg.Add(1)
 
-		srv := c.cfgGRPC.servers[i]
-		lis := c.cfgGRPC.listeners[i]
-		endpoint := c.cfgGRPC.endpoints[i]
-
 		go func() {
 			defer func() {
 				c.log.Info(logs.FrostFSNodeStopListeningGRPCEndpoint,
-					zap.Stringer("endpoint", lis.Addr()),
+					zap.Stringer("endpoint", l.Addr()),
 				)
 
 				c.wg.Done()
@@ -112,15 +174,17 @@ func serveGRPC(c *cfg) {
 
 			c.log.Info(logs.FrostFSNodeStartListeningEndpoint,
 				zap.String("service", "gRPC"),
-				zap.Stringer("endpoint", lis.Addr()),
+				zap.Stringer("endpoint", l.Addr()),
 			)
 
-			if err := srv.Serve(lis); err != nil {
-				c.metricsCollector.GrpcServerMetrics().MarkUnhealthy(endpoint)
-				fmt.Println("gRPC server error", err)
+			if err := s.Serve(l); err != nil {
+				c.metricsCollector.GrpcServerMetrics().MarkUnhealthy(e)
+				c.log.Error(logs.FrostFSNodeGRPCServerError, zap.Error(err))
+				c.cfgGRPC.dropConnection(e)
+				scheduleReconnect(e, c)
 			}
 		}()
-	}
+	})
 }
 
 func stopGRPC(name string, s *grpc.Server, l *logger.Logger) {
diff --git a/cmd/frostfs-node/netmap.go b/cmd/frostfs-node/netmap.go
index 347121e56..b21e842c5 100644
--- a/cmd/frostfs-node/netmap.go
+++ b/cmd/frostfs-node/netmap.go
@@ -5,6 +5,7 @@ import (
 	"context"
 	"errors"
 	"fmt"
+	"net"
 	"sync/atomic"
 
 	netmapGRPC "git.frostfs.info/TrueCloudLab/frostfs-api-go/v2/netmap/grpc"
@@ -21,6 +22,7 @@ import (
 	netmapSDK "git.frostfs.info/TrueCloudLab/frostfs-sdk-go/netmap"
 	"git.frostfs.info/TrueCloudLab/frostfs-sdk-go/version"
 	"go.uber.org/zap"
+	"google.golang.org/grpc"
 )
 
 // primary solution of local network state dump.
@@ -162,9 +164,9 @@ func initNetmapService(ctx context.Context, c *cfg) {
 		),
 	)
 
-	for _, srv := range c.cfgGRPC.servers {
-		netmapGRPC.RegisterNetmapServiceServer(srv, server)
-	}
+	c.cfgGRPC.performAndSave(func(_ string, _ net.Listener, s *grpc.Server) {
+		netmapGRPC.RegisterNetmapServiceServer(s, server)
+	})
 
 	addNewEpochNotificationHandlers(c)
 }
diff --git a/cmd/frostfs-node/object.go b/cmd/frostfs-node/object.go
index 59827179b..e84696e6b 100644
--- a/cmd/frostfs-node/object.go
+++ b/cmd/frostfs-node/object.go
@@ -4,6 +4,7 @@ import (
 	"context"
 	"errors"
 	"fmt"
+	"net"
 
 	"git.frostfs.info/TrueCloudLab/frostfs-api-go/v2/object"
 	objectGRPC "git.frostfs.info/TrueCloudLab/frostfs-api-go/v2/object/grpc"
@@ -43,6 +44,7 @@ import (
 	oid "git.frostfs.info/TrueCloudLab/frostfs-sdk-go/object/id"
 	"git.frostfs.info/TrueCloudLab/frostfs-sdk-go/user"
 	"go.uber.org/zap"
+	"google.golang.org/grpc"
 )
 
 type objectSvc struct {
@@ -204,9 +206,9 @@ func initObjectService(c *cfg) {
 		signSvc, c.metricsCollector.ObjectService(), metricsconfig.Enabled(c.appCfg))
 	server := objectTransportGRPC.New(c.shared.metricsSvc)
 
-	for _, srv := range c.cfgGRPC.servers {
-		objectGRPC.RegisterObjectServiceServer(srv, server)
-	}
+	c.cfgGRPC.performAndSave(func(_ string, _ net.Listener, s *grpc.Server) {
+		objectGRPC.RegisterObjectServiceServer(s, server)
+	})
 }
 
 func addPolicer(c *cfg, keyStorage *util.KeyStorage, clientConstructor *cache.ClientCache) {
diff --git a/cmd/frostfs-node/session.go b/cmd/frostfs-node/session.go
index f9c1811a1..ee21ec230 100644
--- a/cmd/frostfs-node/session.go
+++ b/cmd/frostfs-node/session.go
@@ -3,6 +3,7 @@ package main
 import (
 	"context"
 	"fmt"
+	"net"
 	"time"
 
 	"git.frostfs.info/TrueCloudLab/frostfs-api-go/v2/session"
@@ -16,6 +17,7 @@ import (
 	"git.frostfs.info/TrueCloudLab/frostfs-node/pkg/services/session/storage/persistent"
 	"git.frostfs.info/TrueCloudLab/frostfs-node/pkg/services/session/storage/temporary"
 	"git.frostfs.info/TrueCloudLab/frostfs-sdk-go/user"
+	"google.golang.org/grpc"
 )
 
 type sessionStorage interface {
@@ -57,7 +59,7 @@ func initSessionService(c *cfg) {
 		),
 	)
 
-	for _, srv := range c.cfgGRPC.servers {
-		sessionGRPC.RegisterSessionServiceServer(srv, server)
-	}
+	c.cfgGRPC.performAndSave(func(_ string, _ net.Listener, s *grpc.Server) {
+		sessionGRPC.RegisterSessionServiceServer(s, server)
+	})
 }
diff --git a/cmd/frostfs-node/tree.go b/cmd/frostfs-node/tree.go
index f7c0f2a36..dced05bc2 100644
--- a/cmd/frostfs-node/tree.go
+++ b/cmd/frostfs-node/tree.go
@@ -3,6 +3,7 @@ package main
 import (
 	"context"
 	"errors"
+	"net"
 	"time"
 
 	treeconfig "git.frostfs.info/TrueCloudLab/frostfs-node/cmd/frostfs-node/config/tree"
@@ -15,6 +16,7 @@ import (
 	"git.frostfs.info/TrueCloudLab/frostfs-node/pkg/services/tree"
 	cid "git.frostfs.info/TrueCloudLab/frostfs-sdk-go/container/id"
 	"go.uber.org/zap"
+	"google.golang.org/grpc"
 )
 
 type cnrSource struct {
@@ -63,9 +65,9 @@ func initTreeService(c *cfg) {
 		tree.WithAuthorizedKeys(treeConfig.AuthorizedKeys()),
 		tree.WithMetrics(c.metricsCollector.TreeService()))
 
-	for _, srv := range c.cfgGRPC.servers {
-		tree.RegisterTreeServiceServer(srv, c.treeService)
-	}
+	c.cfgGRPC.performAndSave(func(_ string, _ net.Listener, s *grpc.Server) {
+		tree.RegisterTreeServiceServer(s, c.treeService)
+	})
 
 	c.workers = append(c.workers, newWorkerFromFunc(func(ctx context.Context) {
 		c.treeService.Start(ctx)
diff --git a/internal/logs/logs.go b/internal/logs/logs.go
index 1775b18cd..c3f4fdc7f 100644
--- a/internal/logs/logs.go
+++ b/internal/logs/logs.go
@@ -423,6 +423,11 @@ const (
 	FrostFSNodeStoppingGRPCServer                                           = "stopping gRPC server..."
 	FrostFSNodeGRPCCannotShutdownGracefullyForcingStop                      = "gRPC cannot shutdown gracefully, forcing stop"
 	FrostFSNodeGRPCServerStoppedSuccessfully                                = "gRPC server stopped successfully"
+	FrostFSNodeGRPCServerError                                              = "gRPC server error"
+	FrostFSNodeGRPCReconnecting                                             = "reconnecting gRPC server..."
+	FrostFSNodeGRPCReconnectedSuccessfully                                  = "gRPC server reconnected successfully"
+	FrostFSNodeGRPCServerConfigNotFound                                     = "gRPC server config not found"
+	FrostFSNodeGRPCReconnectFailed                                          = "failed to reconnect gRPC server"
 	FrostFSNodeWaitingForAllProcessesToStop                                 = "waiting for all processes to stop"
 	FrostFSNodeStartedLocalNodesMaintenance                                 = "started local node's maintenance"
 	FrostFSNodeStoppedLocalNodesMaintenance                                 = "stopped local node's maintenance"