diff --git a/.github/workflows/fuzzing.yaml b/.github/workflows/fuzzing.yaml
new file mode 100644
index 00000000..32926af7
--- /dev/null
+++ b/.github/workflows/fuzzing.yaml
@@ -0,0 +1,23 @@
+name: Fuzzing
+on: pull_request
+permissions: read-all
+jobs:
+  fuzzing:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+    env:
+      TARGET_PATH: "."
+    steps:
+    - uses: actions/checkout@8e5e7e5ab8b370d6c329ec480221332ada57f0ab # v3.5.2
+    - uses: actions/setup-go@4d34df0c2316fe8122ab82dc22947d607c0c91f9 # v4.0.0
+      with:
+        go-version: "1.19.9"
+    - run: |
+        set -euo pipefail
+
+        GOARCH=amd64 CPU=4 make fuzz
+    - uses: actions/upload-artifact@0b7f8abb1508181956e8e162db84b466c27e18ce # v3.1.2
+      if: failure()
+      with:
+        path: "${{env.TARGET_PATH}}/testdata/fuzz/**/*"
diff --git a/Makefile b/Makefile
index 3ae9d6a3..06ad414d 100644
--- a/Makefile
+++ b/Makefile
@@ -26,3 +26,7 @@ verify-genproto:
 .PHONY: test
 test:
 	PASSES="unit" ./scripts/test.sh $(GO_TEST_FLAGS)
+
+.PHONY: fuzz
+test:
+	./scripts/fuzzing.sh
diff --git a/fuzz_test.go b/fuzz_test.go
new file mode 100644
index 00000000..f7c02e13
--- /dev/null
+++ b/fuzz_test.go
@@ -0,0 +1,161 @@
+// Copyright 2022 The etcd Authors
+//
+// 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,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+package raft
+
+import (
+	"runtime"
+	"strings"
+	"testing"
+
+	fuzz "github.com/AdaLogics/go-fuzz-headers"
+
+	pb "go.etcd.io/raft/v3/raftpb"
+)
+
+func getMsgType(i int) pb.MessageType {
+	allTypes := map[int]pb.MessageType{0: pb.MsgHup,
+		1:  pb.MsgBeat,
+		2:  pb.MsgProp,
+		3:  pb.MsgApp,
+		4:  pb.MsgAppResp,
+		5:  pb.MsgVote,
+		6:  pb.MsgVoteResp,
+		7:  pb.MsgSnap,
+		8:  pb.MsgHeartbeat,
+		9:  pb.MsgHeartbeatResp,
+		10: pb.MsgUnreachable,
+		11: pb.MsgSnapStatus,
+		12: pb.MsgCheckQuorum,
+		13: pb.MsgTransferLeader,
+		14: pb.MsgTimeoutNow,
+		15: pb.MsgReadIndex,
+		16: pb.MsgReadIndexResp,
+		17: pb.MsgPreVote,
+		18: pb.MsgPreVoteResp}
+	return allTypes[i%len(allTypes)]
+}
+
+// All cases in shouldReport represent known errors in etcd
+// as these are reported via manually added panics.
+func shouldReport(err string) bool {
+	if strings.Contains(err, "stepped empty MsgProp") {
+		return false
+	}
+	if strings.Contains(err, "Was the raft log corrupted, truncated, or lost?") {
+		return false
+	}
+	if strings.Contains(err, "ConfStates not equivalent after sorting:") {
+		return false
+	}
+	if strings.Contains(err, "term should be set when sending ") {
+		return false
+	}
+	if (strings.Contains(err, "unable to restore config")) && (strings.Contains(err, "removed all voters")) {
+		return false
+	}
+	if strings.Contains(err, "ENCOUNTERED A PANIC OR FATAL") {
+		return false
+	}
+	if strings.Contains(err, "need non-empty snapshot") {
+		return false
+	}
+	if strings.Contains(err, "index, ") && strings.Contains(err, ", is out of range [") {
+		return false
+	}
+
+	return true
+}
+
+func catchPanics() {
+	if r := recover(); r != nil {
+		var errMsg string
+		switch r.(type) {
+		case string:
+			errMsg = r.(string)
+		case runtime.Error:
+			errMsg = r.(runtime.Error).Error()
+		}
+		if shouldReport(errMsg) {
+			// Getting to this point means that the fuzzer
+			// did not stop because of a manually added panic.
+			panic(errMsg)
+		}
+	}
+}
+
+func FuzzStep(f *testing.F) {
+	f.Fuzz(func(t *testing.T, data []byte) {
+		defer SetLogger(getLogger())
+		SetLogger(discardLogger)
+
+		defer catchPanics()
+		f := fuzz.NewConsumer(data)
+		msg := pb.Message{}
+		err := f.GenerateStruct(&msg)
+		if err != nil {
+			return
+		}
+
+		msgTypeIndex, err := f.GetInt()
+		if err != nil {
+			return
+		}
+		msg.Type = getMsgType(msgTypeIndex)
+
+		cfg := newTestConfig(1, 5, 1, newTestMemoryStorage(withPeers(1, 2)))
+		cfg.Logger = &ZapRaftLogger{}
+		r := newRaft(cfg)
+		r.becomeCandidate()
+		r.becomeLeader()
+		r.prs.Progress[2].BecomeReplicate()
+		_ = r.Step(msg)
+		_ = r.readMessages()
+	})
+}
+
+type ZapRaftLogger struct {
+}
+
+func (zl *ZapRaftLogger) Debug(_ ...interface{}) {}
+
+func (zl *ZapRaftLogger) Debugf(_ string, _ ...interface{}) {}
+
+func (zl *ZapRaftLogger) Error(_ ...interface{}) {}
+
+func (zl *ZapRaftLogger) Errorf(_ string, _ ...interface{}) {}
+
+func (zl *ZapRaftLogger) Info(_ ...interface{}) {}
+
+func (zl *ZapRaftLogger) Infof(_ string, _ ...interface{}) {}
+
+func (zl *ZapRaftLogger) Warning(_ ...interface{}) {}
+
+func (zl *ZapRaftLogger) Warningf(_ string, _ ...interface{}) {}
+
+func (zl *ZapRaftLogger) Fatal(_ ...interface{}) {
+	panic("ENCOUNTERED A PANIC OR FATAL")
+}
+
+func (zl *ZapRaftLogger) Fatalf(_ string, _ ...interface{}) {
+	panic("ENCOUNTERED A PANIC OR FATAL")
+}
+
+func (zl *ZapRaftLogger) Panic(_ ...interface{}) {
+	panic("ENCOUNTERED A PANIC OR FATAL")
+}
+
+func (zl *ZapRaftLogger) Panicf(_ string, _ ...interface{}) {
+	panic("ENCOUNTERED A PANIC OR FATAL")
+}
diff --git a/go.mod b/go.mod
index 353ff51d..457dab1f 100644
--- a/go.mod
+++ b/go.mod
@@ -3,6 +3,7 @@ module go.etcd.io/raft/v3
 go 1.19
 
 require (
+	github.com/AdaLogics/go-fuzz-headers v0.0.0-20230811130428-ced1acdcaa24
 	github.com/cockroachdb/datadriven v1.0.2
 	github.com/gogo/protobuf v1.3.2
 	github.com/golang/protobuf v1.5.2
diff --git a/go.sum b/go.sum
index a226f130..dfaa7537 100644
--- a/go.sum
+++ b/go.sum
@@ -1,3 +1,5 @@
+github.com/AdaLogics/go-fuzz-headers v0.0.0-20230811130428-ced1acdcaa24 h1:bvDV9vkmnHYOMsOr4WLk+Vo07yKIzd94sVoIqshQ4bU=
+github.com/AdaLogics/go-fuzz-headers v0.0.0-20230811130428-ced1acdcaa24/go.mod h1:8o94RPi1/7XTJvwPpRSzSUedZrtlirdB3r9Z20bi2f8=
 github.com/cockroachdb/datadriven v1.0.2 h1:H9MtNqVoVhvd9nCBwOyDjUEdZCREqbIdCJD93PBm/jA=
 github.com/cockroachdb/datadriven v1.0.2/go.mod h1:a9RdTaap04u637JoCzcUoIcDmvwSUtcUFtT/C3kJlTU=
 github.com/davecgh/go-spew v1.1.1 h1:vj9j/u1bqnvCEfJOwUhtlOARqs3+rkHYY13jYWTU97c=
diff --git a/scripts/fuzzing.sh b/scripts/fuzzing.sh
new file mode 100755
index 00000000..aa6339ac
--- /dev/null
+++ b/scripts/fuzzing.sh
@@ -0,0 +1,19 @@
+#!/usr/bin/env bash
+
+set -euo pipefail
+
+source ./scripts/test_lib.sh
+
+GO_CMD="go"
+fuzz_time=${FUZZ_TIME:-"300s"}
+target_path=${TARGET_PATH:-"."}
+TARGETS="FuzzStep"
+
+
+for target in ${TARGETS}; do
+    log_callout -e "\\nExecuting fuzzing with target ${target} in $target_path with a timeout of $fuzz_time\\n"
+    run pushd "${target_path}"
+        $GO_CMD test -fuzz "${target}" -fuzztime "${fuzz_time}"
+    run popd
+    log_success -e "\\COMPLETED: fuzzing with target $target in $target_path \\n"
+done