diff --git a/ddl/ddl.go b/ddl/ddl.go
index 9fd6cb7215e68..9a85b58c84dc5 100644
--- a/ddl/ddl.go
+++ b/ddl/ddl.go
@@ -32,6 +32,7 @@ import (
 	"github.com/pingcap/parser/mysql"
 	"github.com/pingcap/parser/terror"
 	pumpcli "github.com/pingcap/tidb-tools/tidb-binlog/pump_client"
+	"github.com/pingcap/tidb/config"
 	"github.com/pingcap/tidb/ddl/util"
 	"github.com/pingcap/tidb/infoschema"
 	"github.com/pingcap/tidb/kv"
@@ -42,6 +43,7 @@ import (
 	"github.com/pingcap/tidb/sessionctx/binloginfo"
 	"github.com/pingcap/tidb/sessionctx/variable"
 	"github.com/pingcap/tidb/table"
+	goutil "github.com/pingcap/tidb/util"
 	tidbutil "github.com/pingcap/tidb/util"
 	"github.com/pingcap/tidb/util/logutil"
 	"go.etcd.io/etcd/clientv3"
@@ -312,6 +314,7 @@ type ddlCtx struct {
 	lease        time.Duration        // lease is schema lease.
 	binlogCli    *pumpcli.PumpsClient // binlogCli is used for Binlog.
 	infoHandle   *infoschema.Handle
+	tableLockCkr util.DeadTableLockChecker
 
 	// hook may be modified.
 	mu struct {
@@ -375,6 +378,7 @@ func newDDL(ctx context.Context, etcdCli *clientv3.Client, store kv.Storage,
 	ctx, cancelFunc := context.WithCancel(ctx)
 	var manager owner.Manager
 	var syncer util.SchemaSyncer
+	var deadLockCkr util.DeadTableLockChecker
 	if etcdCli == nil {
 		// The etcdCli is nil if the store is localstore which is only used for testing.
 		// So we use mockOwnerManager and MockSchemaSyncer.
@@ -383,6 +387,7 @@ func newDDL(ctx context.Context, etcdCli *clientv3.Client, store kv.Storage,
 	} else {
 		manager = owner.NewOwnerManager(etcdCli, ddlPrompt, id, DDLOwnerKey, cancelFunc)
 		syncer = util.NewSchemaSyncer(etcdCli, id, manager)
+		deadLockCkr = util.NewDeadTableLockChecker(etcdCli)
 	}
 
 	ddlCtx := &ddlCtx{
@@ -394,6 +399,7 @@ func newDDL(ctx context.Context, etcdCli *clientv3.Client, store kv.Storage,
 		schemaSyncer: syncer,
 		binlogCli:    binloginfo.GetPumpsClient(),
 		infoHandle:   infoHandle,
+		tableLockCkr: deadLockCkr,
 	}
 	ddlCtx.mu.hook = hook
 	ddlCtx.mu.interceptor = &BaseInterceptor{}
@@ -491,6 +497,11 @@ func (d *ddl) start(ctx context.Context, ctxPool *pools.ResourcePool) {
 				}
 			})
 		metrics.DDLCounter.WithLabelValues(fmt.Sprintf("%s", metrics.StartCleanWork)).Inc()
+		if config.TableLockEnabled() {
+			d.wg.Add(1)
+			go d.startCleanDeadTableLock()
+		}
+		metrics.DDLCounter.WithLabelValues(metrics.StartCleanWork).Inc()
 	}
 }
 
@@ -681,6 +692,40 @@ func (d *ddl) GetHook() Callback {
 	return d.mu.hook
 }
 
+func (d *ddl) startCleanDeadTableLock() {
+	defer func() {
+		goutil.Recover(metrics.LabelDDL, "startCleanDeadTableLock", nil, false)
+		d.wg.Done()
+	}()
+
+	ticker := time.NewTicker(time.Second * 10)
+	defer ticker.Stop()
+	for {
+		select {
+		case <-ticker.C:
+			if !d.ownerManager.IsOwner() {
+				continue
+			}
+			if d.infoHandle == nil || !d.infoHandle.IsValid() {
+				continue
+			}
+			deadLockTables, err := d.tableLockCkr.GetDeadLockedTables(d.quitCh, d.infoHandle.Get().AllSchemas())
+			if err != nil {
+				logutil.Logger(ddlLogCtx).Info("[ddl] get dead table lock failed.", zap.Error(err))
+				continue
+			}
+			for se, tables := range deadLockTables {
+				err := d.CleanDeadTableLock(tables, se)
+				if err != nil {
+					logutil.Logger(ddlLogCtx).Info("[ddl] clean dead table lock failed.", zap.Error(err))
+				}
+			}
+		case <-d.quitCh:
+			return
+		}
+	}
+}
+
 // DDL error codes.
 const (
 	codeInvalidWorker         terror.ErrCode = 1
diff --git a/ddl/ddl_api.go b/ddl/ddl_api.go
index c818c2705b859..bb00c7cea977b 100644
--- a/ddl/ddl_api.go
+++ b/ddl/ddl_api.go
@@ -3756,6 +3756,33 @@ func (d *ddl) UnlockTables(ctx sessionctx.Context, unlockTables []model.TableLoc
 	return errors.Trace(err)
 }
 
+// CleanDeadTableLock uses to clean dead table locks.
+func (d *ddl) CleanDeadTableLock(unlockTables []model.TableLockTpInfo, se model.SessionInfo) error {
+	if len(unlockTables) == 0 {
+		return nil
+	}
+	arg := &lockTablesArg{
+		UnlockTables: unlockTables,
+		SessionInfo:  se,
+	}
+	job := &model.Job{
+		SchemaID:   unlockTables[0].SchemaID,
+		TableID:    unlockTables[0].TableID,
+		Type:       model.ActionUnlockTable,
+		BinlogInfo: &model.HistoryInfo{},
+		Args:       []interface{}{arg},
+	}
+
+	ctx, err := d.sessPool.get()
+	if err != nil {
+		return err
+	}
+	defer d.sessPool.put(ctx)
+	err = d.doDDLJob(ctx, job)
+	err = d.callHookOnChanged(err)
+	return errors.Trace(err)
+}
+
 func throwErrIfInMemOrSysDB(ctx sessionctx.Context, dbLowerName string) error {
 	if util.IsMemOrSysDB(dbLowerName) {
 		if ctx.GetSessionVars().User != nil {
diff --git a/ddl/util/dead_table_lock_checker.go b/ddl/util/dead_table_lock_checker.go
new file mode 100644
index 0000000000000..9984a234eb469
--- /dev/null
+++ b/ddl/util/dead_table_lock_checker.go
@@ -0,0 +1,106 @@
+// Copyright 2020 PingCAP, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+package util
+
+import (
+	"context"
+	"strings"
+	"time"
+
+	"github.com/pingcap/errors"
+	"github.com/pingcap/parser/model"
+	"github.com/pingcap/tidb/util/logutil"
+	"go.etcd.io/etcd/clientv3"
+	"go.uber.org/zap"
+)
+
+const (
+	defaultRetryCnt      = 5
+	defaultRetryInterval = time.Millisecond * 200
+	defaultTimeout       = time.Second
+)
+
+// DeadTableLockChecker uses to check dead table locks.
+// If tidb-server panic or killed by others, the table locks hold by the killed tidb-server maybe doesn't released.
+type DeadTableLockChecker struct {
+	etcdCli *clientv3.Client
+}
+
+// NewDeadTableLockChecker creates new DeadLockChecker.
+func NewDeadTableLockChecker(etcdCli *clientv3.Client) DeadTableLockChecker {
+	return DeadTableLockChecker{
+		etcdCli: etcdCli,
+	}
+}
+
+func (d *DeadTableLockChecker) getAliveServers(ctx context.Context) (map[string]struct{}, error) {
+	var err error
+	var resp *clientv3.GetResponse
+	allInfos := make(map[string]struct{})
+	for i := 0; i < defaultRetryCnt; i++ {
+		select {
+		case <-ctx.Done():
+			return nil, ctx.Err()
+		default:
+		}
+		childCtx, cancel := context.WithTimeout(ctx, defaultTimeout)
+		resp, err = d.etcdCli.Get(childCtx, DDLAllSchemaVersions, clientv3.WithPrefix())
+		cancel()
+		if err != nil {
+			logutil.Logger(ddlLogCtx).Info("[ddl] clean dead table lock get alive servers failed.", zap.Error(err))
+			time.Sleep(defaultRetryInterval)
+			continue
+		}
+		for _, kv := range resp.Kvs {
+			serverID := strings.TrimPrefix(string(kv.Key), DDLAllSchemaVersions+"/")
+			allInfos[serverID] = struct{}{}
+		}
+		return allInfos, nil
+	}
+	return nil, errors.Trace(err)
+}
+
+// GetDeadLockedTables gets dead locked tables.
+func (d *DeadTableLockChecker) GetDeadLockedTables(quitCh chan struct{}, schemas []*model.DBInfo) (map[model.SessionInfo][]model.TableLockTpInfo, error) {
+	if d.etcdCli == nil {
+		return nil, nil
+	}
+	aliveServers, err := d.getAliveServers(context.Background())
+	if err != nil {
+		return nil, err
+	}
+	deadLockTables := make(map[model.SessionInfo][]model.TableLockTpInfo)
+	for _, schema := range schemas {
+		select {
+		case <-quitCh:
+			return nil, nil
+		default:
+		}
+		for _, tbl := range schema.Tables {
+			if tbl.Lock == nil {
+				continue
+			}
+			for _, se := range tbl.Lock.Sessions {
+				if _, ok := aliveServers[se.ServerID]; !ok {
+					deadLockTables[se] = append(deadLockTables[se], model.TableLockTpInfo{
+						SchemaID: schema.ID,
+						TableID:  tbl.ID,
+						Tp:       tbl.Lock.Tp,
+					})
+				}
+			}
+		}
+	}
+	return deadLockTables, nil
+}
diff --git a/util/misc.go b/util/misc.go
index 6af5c4b9cf65f..f79ddc06e9fac 100644
--- a/util/misc.go
+++ b/util/misc.go
@@ -19,8 +19,10 @@ import (
 	"crypto/x509"
 	"crypto/x509/pkix"
 	"fmt"
+	"github.com/pingcap/tidb/metrics"
 	"io/ioutil"
 	"net/http"
+	"os"
 	"runtime"
 	"strconv"
 	"strings"
@@ -92,6 +94,34 @@ func WithRecovery(exec func(), recoverFn func(r interface{})) {
 	exec()
 }
 
+// Recover includes operations such as recovering, clearing，and printing information.
+// It will dump current goroutine stack into log if catch any recover result.
+//   metricsLabel: The label of PanicCounter metrics.
+//   funcInfo:     Some information for the panic function.
+//   recoverFn:    Handler will be called after recover and before dump stack, passing `nil` means noop.
+//   quit:         If this value is true, the current program exits after recovery.
+func Recover(metricsLabel, funcInfo string, recoverFn func(), quit bool) {
+	r := recover()
+	if r == nil {
+		return
+	}
+
+	if recoverFn != nil {
+		recoverFn()
+	}
+	logutil.Logger(context.Background()).Error("panic in the recoverable goroutine",
+		zap.String("label", metricsLabel),
+		zap.String("funcInfo", funcInfo),
+		zap.Reflect("r", r),
+		zap.String("stack", string(GetStack())))
+	metrics.PanicCounter.WithLabelValues(metricsLabel).Inc()
+	if quit {
+		// Wait for metrics to be pushed.
+		time.Sleep(time.Second * 15)
+		os.Exit(1)
+	}
+}
+
 // CompatibleParseGCTime parses a string with `GCTimeFormat` and returns a time.Time. If `value` can't be parsed as that
 // format, truncate to last space and try again. This function is only useful when loading times that saved by
 // gc_worker. We have changed the format that gc_worker saves time (removed the last field), but when loading times it