diff --git a/clientv3/integration/naming/resolver_test.go b/clientv3/integration/naming/resolver_test.go
index bb6354d5576f..f4932ec94453 100644
--- a/clientv3/integration/naming/resolver_test.go
+++ b/clientv3/integration/naming/resolver_test.go
@@ -21,7 +21,7 @@ import (
 	"time"
 
 	"google.golang.org/grpc"
-	testpb "google.golang.org/grpc/test/grpc_testing"
+	testpb "google.golang.org/grpc/interop/grpc_testing"
 
 	"go.etcd.io/etcd/clientv3/naming/endpoints"
 	"go.etcd.io/etcd/clientv3/naming/resolver"
diff --git a/clientv3/naming/resolver/resolver.go b/clientv3/naming/resolver/resolver.go
index f2da05b4e635..7fe8da8fc43a 100644
--- a/clientv3/naming/resolver/resolver.go
+++ b/clientv3/naming/resolver/resolver.go
@@ -16,6 +16,7 @@ package resolver
 
 import (
 	"context"
+	"strings"
 	"sync"
 
 	"google.golang.org/grpc/codes"
@@ -31,9 +32,15 @@ type builder struct {
 }
 
 func (b builder) Build(target gresolver.Target, cc gresolver.ClientConn, opts gresolver.BuildOptions) (gresolver.Resolver, error) {
+	// Refer to https://github.com/grpc/grpc-go/blob/16d3df80f029f57cff5458f1d6da6aedbc23545d/clientconn.go#L1587-L1611
+	endpoint := target.URL.Path
+	if endpoint == "" {
+		endpoint = target.URL.Opaque
+	}
+	endpoint = strings.TrimPrefix(endpoint, "/")
 	r := &resolver{
 		c:      b.c,
-		target: target.Endpoint,
+		target: endpoint,
 		cc:     cc,
 	}
 	r.ctx, r.cancel = context.WithCancel(context.Background())
diff --git a/go.mod b/go.mod
index 0306c8ae059a..68b38823046b 100644
--- a/go.mod
+++ b/go.mod
@@ -13,7 +13,7 @@ require (
 	github.com/gogo/protobuf v1.3.2
 	github.com/golang-jwt/jwt v3.2.1+incompatible
 	github.com/golang/groupcache v0.0.0-20160516000752-02826c3e7903
-	github.com/golang/protobuf v1.5.2
+	github.com/golang/protobuf v1.5.3
 	github.com/google/btree v1.0.0
 	github.com/grpc-ecosystem/go-grpc-middleware v1.0.1-0.20190118093823-f849b5445de4
 	github.com/grpc-ecosystem/go-grpc-prometheus v1.2.0
@@ -35,10 +35,10 @@ require (
 	go.uber.org/zap v1.10.0
 	golang.org/x/crypto v0.14.0
 	golang.org/x/net v0.17.0
-	golang.org/x/sync v0.1.0
+	golang.org/x/sync v0.3.0
 	golang.org/x/sys v0.13.0
 	golang.org/x/time v0.0.0-20180412165947-fbb02b2291d2
-	google.golang.org/grpc v1.52.0
+	google.golang.org/grpc v1.58.3
 	gopkg.in/cheggaaa/pb.v1 v1.0.25
 	gopkg.in/yaml.v2 v2.4.0
 	sigs.k8s.io/yaml v1.1.0
@@ -46,7 +46,7 @@ require (
 
 require (
 	github.com/beorn7/perks v1.0.1 // indirect
-	github.com/cespare/xxhash/v2 v2.1.1 // indirect
+	github.com/cespare/xxhash/v2 v2.2.0 // indirect
 	github.com/davecgh/go-spew v1.1.1 // indirect
 	github.com/fatih/color v1.7.0 // indirect
 	github.com/gorilla/websocket v1.4.2 // indirect
@@ -64,7 +64,9 @@ require (
 	go.uber.org/atomic v1.3.2 // indirect
 	go.uber.org/multierr v1.1.0 // indirect
 	golang.org/x/text v0.13.0 // indirect
-	google.golang.org/genproto v0.0.0-20221118155620-16455021b5e6 // indirect
-	google.golang.org/protobuf v1.28.1 // indirect
+	google.golang.org/genproto v0.0.0-20230711160842-782d3b101e98 // indirect
+	google.golang.org/genproto/googleapis/api v0.0.0-20230711160842-782d3b101e98 // indirect
+	google.golang.org/genproto/googleapis/rpc v0.0.0-20230711160842-782d3b101e98 // indirect
+	google.golang.org/protobuf v1.31.0 // indirect
 	gopkg.in/yaml.v3 v3.0.1 // indirect
 )
diff --git a/go.sum b/go.sum
index f0be351cabb4..169709424c5c 100644
--- a/go.sum
+++ b/go.sum
@@ -15,6 +15,8 @@ github.com/bgentry/speakeasy v0.1.0/go.mod h1:+zsyZBPWlz7T6j88CTgSN5bM796AkVf0kB
 github.com/census-instrumentation/opencensus-proto v0.2.1/go.mod h1:f6KPmirojxKA12rnyqOA5BBL4O983OfeGPqjHWSTneU=
 github.com/cespare/xxhash/v2 v2.1.1 h1:6MnRN8NT7+YBpUIWxHtefFZOKTAPgGjpQSxqLNn0+qY=
 github.com/cespare/xxhash/v2 v2.1.1/go.mod h1:VGX0DQ3Q6kWi7AoAeZDth3/j3BFtOZR5XLFGgcrjCOs=
+github.com/cespare/xxhash/v2 v2.2.0 h1:DC2CZ1Ep5Y4k3ZQ899DldepgrayRUGE6BBZ/cd9Cj44=
+github.com/cespare/xxhash/v2 v2.2.0/go.mod h1:VGX0DQ3Q6kWi7AoAeZDth3/j3BFtOZR5XLFGgcrjCOs=
 github.com/client9/misspell v0.3.4/go.mod h1:qj6jICC3Q7zFZvVWo7KLAzC3yx5G7kyvSDkc90ppPyw=
 github.com/cncf/udpa/go v0.0.0-20191209042840-269d4d468f6f/go.mod h1:M8M6+tZqaGXZJjfX53e64911xZQV5JYwmTeXPW+k8Sc=
 github.com/cockroachdb/datadriven v0.0.0-20190809214429-80d97fb3cbaa h1:OaNxuTZr7kxeODyLWsRMC+OD03aFUH+mW6r2d+MWa5Y=
@@ -71,6 +73,8 @@ github.com/golang/protobuf v1.4.3/go.mod h1:oDoupMAO8OvCJWAcko0GGGIgR6R6ocIYbsSw
 github.com/golang/protobuf v1.5.0/go.mod h1:FsONVRAS9T7sI+LIUmWTfcYkHO4aIWwzhcaSAoJOfIk=
 github.com/golang/protobuf v1.5.2 h1:ROPKBNFfQgOUMifHyP+KYbvpjbdoFNs+aK7DXlji0Tw=
 github.com/golang/protobuf v1.5.2/go.mod h1:XVQd3VNwM+JqD3oG2Ue2ip4fOMUkwXdXDdiuN0vRsmY=
+github.com/golang/protobuf v1.5.3 h1:KhyjKVUg7Usr/dYsdSqoFveMYd5ko72D+zANwlG1mmg=
+github.com/golang/protobuf v1.5.3/go.mod h1:XVQd3VNwM+JqD3oG2Ue2ip4fOMUkwXdXDdiuN0vRsmY=
 github.com/google/btree v1.0.0 h1:0udJVsspx3VBr5FwtLhQQtuAsVc79tTq0ocGIPAU6qo=
 github.com/google/btree v1.0.0/go.mod h1:lNA+9X1NB3Zf8V7Ke586lFgjr2dZNuvo3lPJSGZ5JPQ=
 github.com/google/go-cmp v0.2.0/go.mod h1:oXzfMopK8JAjlY9xF4vHSVASa0yLyX7SntLO5aqRK0M=
@@ -230,6 +234,7 @@ golang.org/x/sync v0.0.0-20201020160332-67f06af15bc9/go.mod h1:RxMgew5VJxzue5/jJ
 golang.org/x/sync v0.0.0-20201207232520-09787c993a3a/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
 golang.org/x/sync v0.1.0 h1:wsuoTGHzEhffawBOhz5CYhcrV4IdKZbEyZjBMuTp12o=
 golang.org/x/sync v0.1.0/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
+golang.org/x/sync v0.3.0/go.mod h1:FU7BRWz2tNW+3quACPkgCx/L+uEAv1htQ0V83Z9Rj+Y=
 golang.org/x/sys v0.0.0-20180830151530-49385e6e1522/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=
 golang.org/x/sys v0.0.0-20180905080454-ebe1bf3edb33/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=
 golang.org/x/sys v0.0.0-20181107165924-66b7b1311ac8/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=
@@ -275,6 +280,12 @@ google.golang.org/genproto v0.0.0-20200526211855-cb27e3aa2013 h1:+kGHl1aib/qcwaR
 google.golang.org/genproto v0.0.0-20200526211855-cb27e3aa2013/go.mod h1:NbSheEEYHJ7i3ixzK3sjbqSGDJWnxyFXZblF3eUsNvo=
 google.golang.org/genproto v0.0.0-20221118155620-16455021b5e6 h1:a2S6M0+660BgMNl++4JPlcAO/CjkqYItDEZwkoDQK7c=
 google.golang.org/genproto v0.0.0-20221118155620-16455021b5e6/go.mod h1:rZS5c/ZVYMaOGBfO68GWtjOw/eLaZM1X6iVtgjZ+EWg=
+google.golang.org/genproto v0.0.0-20230711160842-782d3b101e98 h1:Z0hjGZePRE0ZBWotvtrwxFNrNE9CUAGtplaDK5NNI/g=
+google.golang.org/genproto v0.0.0-20230711160842-782d3b101e98/go.mod h1:S7mY02OqCJTD0E1OiQy1F72PWFB4bZJ87cAtLPYgDR0=
+google.golang.org/genproto/googleapis/api v0.0.0-20230711160842-782d3b101e98 h1:FmF5cCW94Ij59cfpoLiwTgodWmm60eEV0CjlsVg2fuw=
+google.golang.org/genproto/googleapis/api v0.0.0-20230711160842-782d3b101e98/go.mod h1:rsr7RhLuwsDKL7RmgDDCUc6yaGr1iqceVb5Wv6f6YvQ=
+google.golang.org/genproto/googleapis/rpc v0.0.0-20230711160842-782d3b101e98 h1:bVf09lpb+OJbByTj913DRJioFFAjf/ZGxEz7MajTp2U=
+google.golang.org/genproto/googleapis/rpc v0.0.0-20230711160842-782d3b101e98/go.mod h1:TUfxEVdsvPg18p6AslUXFoLdpED4oBnGwyqk3dV1XzM=
 google.golang.org/grpc v1.19.0/go.mod h1:mqu4LbDTu4XGKhr4mRzUsmM4RtVoemTSY81AxZiDr8c=
 google.golang.org/grpc v1.23.0/go.mod h1:Y5yQAOtifL1yxbo5wqy6BxZv8vAUGQwXBOALyacEbxg=
 google.golang.org/grpc v1.25.1/go.mod h1:c3i+UQWmh7LiEpx4sFZnkU36qjEYZ0imhYfXVyQciAY=
@@ -285,6 +296,8 @@ google.golang.org/grpc v1.51.0 h1:E1eGv1FTqoLIdnBCZufiSHgKjlqG6fKFf6pPWtMTh8U=
 google.golang.org/grpc v1.51.0/go.mod h1:wgNDFcnuBGmxLKI/qn4T+m5BtEBYXJPvibbUPsAIPww=
 google.golang.org/grpc v1.52.0 h1:kd48UiU7EHsV4rnLyOJRuP/Il/UHE7gdDAQ+SZI7nZk=
 google.golang.org/grpc v1.52.0/go.mod h1:pu6fVzoFb+NBYNAvQL08ic+lvB2IojljRYuun5vorUY=
+google.golang.org/grpc v1.58.3 h1:BjnpXut1btbtgN/6sp+brB2Kbm2LjNXnidYujAVbSoQ=
+google.golang.org/grpc v1.58.3/go.mod h1:tgX3ZQDlNJGU96V6yHh1T/JeoBQ2TXdr43YbYSsCJk0=
 google.golang.org/protobuf v0.0.0-20200109180630-ec00e32a8dfd/go.mod h1:DFci5gLYBciE7Vtevhsrf46CRTquxDuWsQurQQe4oz8=
 google.golang.org/protobuf v0.0.0-20200221191635-4d8936d0db64/go.mod h1:kwYJMbMJ01Woi6D6+Kah6886xMZcty6N08ah7+eCXa0=
 google.golang.org/protobuf v0.0.0-20200228230310-ab0ca4ff8a60/go.mod h1:cfTl7dwQJ+fmap5saPgwCLgHXTUD7jkjRqWcaiX5VyM=
@@ -300,6 +313,8 @@ google.golang.org/protobuf v1.27.1 h1:SnqbnDw1V7RiZcXPx5MEeqPv2s79L9i7BJUlG/+Rur
 google.golang.org/protobuf v1.27.1/go.mod h1:9q0QmTI4eRPtz6boOQmLYwt+qCgq0jsYwAQnmE0givc=
 google.golang.org/protobuf v1.28.1 h1:d0NfwRgPtno5B1Wa6L2DAG+KivqkdutMf1UhdNx175w=
 google.golang.org/protobuf v1.28.1/go.mod h1:HV8QOd/L58Z+nl8r43ehVNZIU/HEI6OcFqwMG9pJV4I=
+google.golang.org/protobuf v1.31.0 h1:g0LDEJHgrBl9N9r17Ru3sqWhkIx2NB67okBHPwC7hs8=
+google.golang.org/protobuf v1.31.0/go.mod h1:HV8QOd/L58Z+nl8r43ehVNZIU/HEI6OcFqwMG9pJV4I=
 gopkg.in/alecthomas/kingpin.v2 v2.2.6/go.mod h1:FMv+mEhP44yOT+4EoQTLFTRgOQ1FBLkstjWtayDeSgw=
 gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0=
 gopkg.in/check.v1 v1.0.0-20180628173108-788fd7840127/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0=
diff --git a/pkg/grpc_testing/stub_server.go b/pkg/grpc_testing/stub_server.go
index ba7cb44c36b9..e611435585e2 100644
--- a/pkg/grpc_testing/stub_server.go
+++ b/pkg/grpc_testing/stub_server.go
@@ -20,7 +20,7 @@ import (
 	"net"
 
 	"google.golang.org/grpc"
-	testpb "google.golang.org/grpc/test/grpc_testing"
+	testpb "google.golang.org/grpc/interop/grpc_testing"
 )
 
 // StubServer is borrowed from the interal package of grpc-go.