diff --git a/controlplane/kubeadm/internal/controllers/status.go b/controlplane/kubeadm/internal/controllers/status.go
index 118d355c0606..30dfa96982ba 100644
--- a/controlplane/kubeadm/internal/controllers/status.go
+++ b/controlplane/kubeadm/internal/controllers/status.go
@@ -526,7 +526,16 @@ func setAvailableCondition(_ context.Context, kcp *controlplanev1.KubeadmControl
 	// already surfacing status from etcd member and all control plane pods hosted on every machine.
 	// Note: we intentionally use the number of etcd members to determine the etcd quorum because
 	// etcd members might not match with machines, e.g. while provisioning a new machine.
-	etcdQuorum := (len(etcdMembers) / 2.0) + 1
+	activeEtcdMembers := 0
+	learnerEtcdMembers := 0
+	for _, etcdMember := range etcdMembers {
+		if etcdMember.IsLearner {
+			learnerEtcdMembers++
+			continue
+		}
+		activeEtcdMembers++
+	}
+	etcdQuorum := (activeEtcdMembers / 2.0) + 1
 	k8sControlPlaneHealthy := 0
 	k8sControlPlaneNotHealthy := 0
 	etcdMembersHealthy := 0
@@ -584,11 +593,15 @@ func setAvailableCondition(_ context.Context, kcp *controlplanev1.KubeadmControl
 		messages := []string{}
 
 		if etcdIsManaged && etcdMembersNotHealthy > 0 {
-			switch len(etcdMembers) - etcdMembersNotHealthy {
+			learnerMsg := ""
+			if learnerEtcdMembers > 0 {
+				learnerMsg = fmt.Sprintf(" %d member in learner mode,", learnerEtcdMembers)
+			}
+			switch len(etcdMembers) - etcdMembersNotHealthy - learnerEtcdMembers {
 			case 1:
-				messages = append(messages, fmt.Sprintf("* 1 of %d etcd members is healthy, at least %d required for etcd quorum", len(etcdMembers), etcdQuorum))
+				messages = append(messages, fmt.Sprintf("* 1 of %d etcd members is healthy,%s at least %d healthy required for etcd quorum", len(etcdMembers), learnerMsg, etcdQuorum))
 			default:
-				messages = append(messages, fmt.Sprintf("* %d of %d etcd members are healthy, at least %d required for etcd quorum", len(etcdMembers)-etcdMembersNotHealthy, len(etcdMembers), etcdQuorum))
+				messages = append(messages, fmt.Sprintf("* %d of %d etcd members are healthy,%s at least %d healthy required for etcd quorum", len(etcdMembers)-etcdMembersNotHealthy-learnerEtcdMembers, len(etcdMembers), learnerMsg, etcdQuorum))
 			}
 		}
 
@@ -620,13 +633,17 @@ func setAvailableCondition(_ context.Context, kcp *controlplanev1.KubeadmControl
 	}
 
 	if etcdIsManaged && etcdMembersHealthy < etcdQuorum {
+		learnerMsg := ""
+		if learnerEtcdMembers > 0 {
+			learnerMsg = fmt.Sprintf(" %d member in learner mode,", learnerEtcdMembers)
+		}
 		switch etcdMembersHealthy {
 		case 0:
-			messages = append(messages, fmt.Sprintf("* There are no healthy etcd member, at least %d required for etcd quorum", etcdQuorum))
+			messages = append(messages, fmt.Sprintf("* There are no healthy etcd member,%s at least %d healthy required for etcd quorum", learnerMsg, etcdQuorum))
 		case 1:
-			messages = append(messages, fmt.Sprintf("* 1 of %d etcd members is healthy, at least %d required for etcd quorum", len(etcdMembers), etcdQuorum))
+			messages = append(messages, fmt.Sprintf("* 1 of %d etcd members is healthy,%s at least %d healthy required for etcd quorum", len(etcdMembers), learnerMsg, etcdQuorum))
 		default:
-			messages = append(messages, fmt.Sprintf("* %d of %d etcd members are healthy, at least %d required for etcd quorum", etcdMembersHealthy, len(etcdMembers), etcdQuorum))
+			messages = append(messages, fmt.Sprintf("* %d of %d etcd members are healthy,%s at least %d healthy required for etcd quorum", etcdMembersHealthy, len(etcdMembers), learnerMsg, etcdQuorum))
 		}
 	}
 
diff --git a/controlplane/kubeadm/internal/controllers/status_test.go b/controlplane/kubeadm/internal/controllers/status_test.go
index 1f3653ea78ed..bb30d75e984c 100644
--- a/controlplane/kubeadm/internal/controllers/status_test.go
+++ b/controlplane/kubeadm/internal/controllers/status_test.go
@@ -726,6 +726,7 @@ func Test_setAvailableCondition(t *testing.T) {
 
 	etcdMemberHealthy := metav1.Condition{Type: controlplanev1.KubeadmControlPlaneMachineEtcdMemberHealthyV1Beta2Condition, Status: metav1.ConditionTrue, LastTransitionTime: metav1.Time{Time: reconcileTime}}
 	etcdMemberNotHealthy := metav1.Condition{Type: controlplanev1.KubeadmControlPlaneMachineEtcdMemberHealthyV1Beta2Condition, Status: metav1.ConditionFalse, LastTransitionTime: metav1.Time{Time: reconcileTime}}
+	etcdMemberNotHealthy11s := metav1.Condition{Type: controlplanev1.KubeadmControlPlaneMachineEtcdMemberHealthyV1Beta2Condition, Status: metav1.ConditionFalse, LastTransitionTime: metav1.Time{Time: reconcileTime.Add(-11 * time.Second)}}
 
 	tests := []struct {
 		name            string
@@ -1046,6 +1047,35 @@ func Test_setAvailableCondition(t *testing.T) {
 				Message: "* Control plane certificates are not available",
 			},
 		},
+		{
+			name: "Learning etcd members should not be considered for quorum",
+			controlPlane: &internal.ControlPlane{
+				KCP: &controlplanev1.KubeadmControlPlane{
+					Status: controlplanev1.KubeadmControlPlaneStatus{
+						Initialized: true,
+						V1Beta2: &controlplanev1.KubeadmControlPlaneV1Beta2Status{
+							Conditions: []metav1.Condition{certificatesReady},
+						},
+					},
+				},
+				Machines: collections.FromMachines(
+					&clusterv1.Machine{ObjectMeta: metav1.ObjectMeta{Name: "m1"}, Status: clusterv1.MachineStatus{V1Beta2: &clusterv1.MachineV1Beta2Status{Conditions: []metav1.Condition{apiServerPodHealthy, controllerManagerPodHealthy, schedulerPodHealthy, etcdPodHealthy, etcdMemberHealthy}}}},
+					&clusterv1.Machine{ObjectMeta: metav1.ObjectMeta{Name: "m2"}, Status: clusterv1.MachineStatus{V1Beta2: &clusterv1.MachineV1Beta2Status{Conditions: []metav1.Condition{apiServerPodHealthy, controllerManagerPodHealthy, schedulerPodHealthy, etcdPodHealthy, etcdMemberHealthy}}}},
+					&clusterv1.Machine{ObjectMeta: metav1.ObjectMeta{Name: "m3"}, Status: clusterv1.MachineStatus{V1Beta2: &clusterv1.MachineV1Beta2Status{Conditions: []metav1.Condition{apiServerPodHealthy, controllerManagerPodHealthy, schedulerPodHealthy, etcdPodHealthy, etcdMemberNotHealthy11s}}}},
+				),
+				EtcdMembers:                       []*etcd.Member{{}, {}, {IsLearner: true}},
+				EtcdMembersAgreeOnMemberList:      true,
+				EtcdMembersAgreeOnClusterID:       true,
+				EtcdMembersAndMachinesAreMatching: true,
+			},
+			expectCondition: metav1.Condition{
+				Type:   controlplanev1.KubeadmControlPlaneAvailableV1Beta2Condition,
+				Status: metav1.ConditionTrue,
+				Reason: controlplanev1.KubeadmControlPlaneAvailableV1Beta2Reason,
+				Message: "* 1 of 3 etcd members is healthy, 1 member in learner mode, at least 2 healthy required for etcd quorum\n" +
+					"* 2 of 3 Machines have healthy control plane components, at least 1 required",
+			},
+		},
 		{
 			name: "Not enough healthy etcd members",
 			controlPlane: &internal.ControlPlane{
@@ -1071,7 +1101,7 @@ func Test_setAvailableCondition(t *testing.T) {
 				Type:    controlplanev1.KubeadmControlPlaneAvailableV1Beta2Condition,
 				Status:  metav1.ConditionFalse,
 				Reason:  controlplanev1.KubeadmControlPlaneNotAvailableV1Beta2Reason,
-				Message: "* 1 of 3 etcd members is healthy, at least 2 required for etcd quorum",
+				Message: "* 1 of 3 etcd members is healthy, at least 2 healthy required for etcd quorum",
 			},
 		},
 		{