diff --git a/python/ray/tests/test_placement_group.py b/python/ray/tests/test_placement_group.py
index e7779a43b..aef130e68 100644
--- a/python/ray/tests/test_placement_group.py
+++ b/python/ray/tests/test_placement_group.py
@@ -12,6 +12,7 @@ from ray.test_utils import (get_other_nodes, wait_for_condition,
                             get_error_message)
 import ray.cluster_utils
 from ray._raylet import PlacementGroupID
+from ray.test_utils import run_string_as_driver
 from ray.util.placement_group import (PlacementGroup,
                                       get_current_placement_group)
 
@@ -995,5 +996,165 @@ def test_ready_warning_suppressed(ray_start_regular, error_pubsub):
     assert len(errors) == 0
 
 
+def test_automatic_cleanup_job(ray_start_cluster):
+    # Make sure the placement groups created by a
+    # job, actor, and task are cleaned when the job is done.
+    cluster = ray_start_cluster
+    num_nodes = 3
+    num_cpu_per_node = 4
+    # Create 3 nodes cluster.
+    for _ in range(num_nodes):
+        cluster.add_node(num_cpus=num_cpu_per_node)
+
+    info = ray.init(address=cluster.address)
+    available_cpus = ray.available_resources()["CPU"]
+    assert available_cpus == num_nodes * num_cpu_per_node
+
+    driver_code = f"""
+import ray
+
+ray.init(address="{info["redis_address"]}")
+
+def create_pg():
+    pg = ray.util.placement_group(
+            [{{"CPU": 1}} for _ in range(3)],
+            strategy="STRICT_SPREAD")
+    ray.get(pg.ready())
+    return pg
+
+@ray.remote(num_cpus=0)
+def f():
+    create_pg()
+
+@ray.remote(num_cpus=0)
+class A:
+    def create_pg(self):
+        create_pg()
+
+ray.get(f.remote())
+a = A.remote()
+ray.get(a.create_pg.remote())
+# Create 2 pgs to make sure multiple placement groups that belong
+# to a single job will be properly cleaned.
+create_pg()
+create_pg()
+
+ray.shutdown()
+    """
+
+    run_string_as_driver(driver_code)
+
+    # Wait until the driver is reported as dead by GCS.
+    def is_job_done():
+        jobs = ray.jobs()
+        for job in jobs:
+            if "StopTime" in job:
+                return True
+        return False
+
+    def assert_num_cpus(expected_num_cpus):
+        if expected_num_cpus == 0:
+            return "CPU" not in ray.available_resources()
+        return ray.available_resources()["CPU"] == expected_num_cpus
+
+    wait_for_condition(is_job_done)
+    available_cpus = ray.available_resources()["CPU"]
+    wait_for_condition(lambda: assert_num_cpus(num_nodes * num_cpu_per_node))
+
+
+def test_automatic_cleanup_detached_actors(ray_start_cluster):
+    # Make sure the placement groups created by a
+    # detached actors are cleaned properly.
+    cluster = ray_start_cluster
+    num_nodes = 3
+    num_cpu_per_node = 2
+    # Create 3 nodes cluster.
+    for _ in range(num_nodes):
+        cluster.add_node(num_cpus=num_cpu_per_node)
+
+    info = ray.init(address=cluster.address)
+    available_cpus = ray.available_resources()["CPU"]
+    assert available_cpus == num_nodes * num_cpu_per_node
+
+    driver_code = f"""
+import ray
+
+ray.init(address="{info["redis_address"]}")
+
+def create_pg():
+    pg = ray.util.placement_group(
+            [{{"CPU": 1}} for _ in range(3)],
+            strategy="STRICT_SPREAD")
+    ray.get(pg.ready())
+    return pg
+
+# TODO(sang): Placement groups created by tasks launched by detached actor
+# is not cleaned with the current protocol.
+# @ray.remote(num_cpus=0)
+# def f():
+#     create_pg()
+
+@ray.remote(num_cpus=0, max_restarts=1)
+class A:
+    def create_pg(self):
+        create_pg()
+    def create_child_pg(self):
+        self.a = A.options(name="B").remote()
+        ray.get(self.a.create_pg.remote())
+    def kill_child_actor(self):
+        ray.kill(self.a)
+        try:
+            ray.get(self.a.create_pg.remote())
+        except Exception:
+            pass
+
+a = A.options(lifetime="detached", name="A").remote()
+ray.get(a.create_pg.remote())
+# TODO(sang): Currently, child tasks are cleaned when a detached actor
+# is dead. We cannot test this scenario until it is fixed.
+# ray.get(a.create_child_pg.remote())
+
+ray.shutdown()
+    """
+
+    run_string_as_driver(driver_code)
+
+    # Wait until the driver is reported as dead by GCS.
+    def is_job_done():
+        jobs = ray.jobs()
+        for job in jobs:
+            if "StopTime" in job:
+                return True
+        return False
+
+    def assert_num_cpus(expected_num_cpus):
+        if expected_num_cpus == 0:
+            return "CPU" not in ray.available_resources()
+        return ray.available_resources()["CPU"] == expected_num_cpus
+
+    wait_for_condition(is_job_done)
+    assert assert_num_cpus(num_nodes)
+    # Make sure when a child actor spawned by a detached actor
+    # is killed, the placement group is removed.
+    a = ray.get_actor("A")
+    # TODO(sang): child of detached actors
+    # seem to be killed when jobs are done. We should fix this before
+    # testing this scenario.
+    # ray.get(a.kill_child_actor.remote())
+    # assert assert_num_cpus(num_nodes)
+
+    # Make sure placement groups are cleaned when detached actors are killed.
+    ray.kill(a, no_restart=False)
+    wait_for_condition(lambda: assert_num_cpus(num_nodes * num_cpu_per_node))
+    # The detached actor a should've been restarted.
+    # Recreate a placement group.
+    ray.get(a.create_pg.remote())
+    wait_for_condition(lambda: assert_num_cpus(num_nodes))
+    # Kill it again and make sure the placement group
+    # that is created is deleted again.
+    ray.kill(a, no_restart=False)
+    wait_for_condition(lambda: assert_num_cpus(num_nodes * num_cpu_per_node))
+
+
 if __name__ == "__main__":
     sys.exit(pytest.main(["-v", __file__]))
diff --git a/src/ray/common/placement_group.h b/src/ray/common/placement_group.h
index d304631f8..a068ce4a1 100644
--- a/src/ray/common/placement_group.h
+++ b/src/ray/common/placement_group.h
@@ -67,10 +67,22 @@ class PlacementGroupSpecBuilder {
   PlacementGroupSpecBuilder &SetPlacementGroupSpec(
       const PlacementGroupID &placement_group_id, std::string name,
       const std::vector<std::unordered_map<std::string, double>> &bundles,
-      const rpc::PlacementStrategy strategy) {
+      const rpc::PlacementStrategy strategy, const JobID &creator_job_id,
+      const ActorID &creator_actor_id, bool is_creator_detached_actor) {
     message_->set_placement_group_id(placement_group_id.Binary());
     message_->set_name(name);
     message_->set_strategy(strategy);
+    // Configure creator job and actor ID for automatic lifecycle management.
+    RAY_CHECK(!creator_job_id.IsNil());
+    message_->set_creator_job_id(creator_job_id.Binary());
+    // When the creator is detached actor, we should just consider the job is dead.
+    // It is because the detached actor can be created AFTER the job is dead.
+    // Imagine a case where detached actor is restarted by GCS after the creator job is
+    // dead.
+    message_->set_creator_job_dead(is_creator_detached_actor);
+    message_->set_creator_actor_id(creator_actor_id.Binary());
+    message_->set_creator_actor_dead(creator_actor_id.IsNil());
+
     for (size_t i = 0; i < bundles.size(); i++) {
       auto resources = bundles[i];
       auto message_bundle = message_->add_bundles();
diff --git a/src/ray/core_worker/context.cc b/src/ray/core_worker/context.cc
index 7e47fc212..aa3f3f548 100644
--- a/src/ray/core_worker/context.cc
+++ b/src/ray/core_worker/context.cc
@@ -182,6 +182,7 @@ void WorkerContext::SetCurrentTask(const TaskSpecification &task_spec) {
     current_actor_is_direct_call_ = true;
     current_actor_max_concurrency_ = task_spec.MaxActorConcurrency();
     current_actor_is_asyncio_ = task_spec.IsAsyncioActor();
+    is_detached_actor_ = task_spec.IsDetachedActor();
     current_actor_placement_group_id_ = task_spec.PlacementGroupId();
     placement_group_capture_child_tasks_ = task_spec.PlacementGroupCaptureChildTasks();
     override_environment_variables_ = task_spec.OverrideEnvironmentVariables();
@@ -235,6 +236,8 @@ int WorkerContext::CurrentActorMaxConcurrency() const {
 
 bool WorkerContext::CurrentActorIsAsync() const { return current_actor_is_asyncio_; }
 
+bool WorkerContext::CurrentActorDetached() const { return is_detached_actor_; }
+
 WorkerThreadContext &WorkerContext::GetThreadContext() {
   if (thread_context_ == nullptr) {
     thread_context_ = std::unique_ptr<WorkerThreadContext>(new WorkerThreadContext());
diff --git a/src/ray/core_worker/context.h b/src/ray/core_worker/context.h
index 6bd3b1bfa..fac3f2c08 100644
--- a/src/ray/core_worker/context.h
+++ b/src/ray/core_worker/context.h
@@ -74,6 +74,8 @@ class WorkerContext {
 
   bool CurrentActorIsAsync() const;
 
+  bool CurrentActorDetached() const;
+
   int GetNextTaskIndex();
 
   // Returns the next put object index; used to calculate ObjectIDs for puts.
@@ -91,6 +93,7 @@ class WorkerContext {
   ActorID current_actor_id_;
   int current_actor_max_concurrency_ = 1;
   bool current_actor_is_asyncio_ = false;
+  bool is_detached_actor_ = false;
   // The placement group id that the current actor belongs to.
   PlacementGroupID current_actor_placement_group_id_;
   // Whether or not we should implicitly capture parent's placement group.
diff --git a/src/ray/core_worker/core_worker.cc b/src/ray/core_worker/core_worker.cc
index 49d90b91f..ab9a6cf4a 100644
--- a/src/ray/core_worker/core_worker.cc
+++ b/src/ray/core_worker/core_worker.cc
@@ -1408,9 +1408,11 @@ Status CoreWorker::CreatePlacementGroup(
     PlacementGroupID *return_placement_group_id) {
   const PlacementGroupID placement_group_id = PlacementGroupID::FromRandom();
   PlacementGroupSpecBuilder builder;
-  builder.SetPlacementGroupSpec(placement_group_id, placement_group_creation_options.name,
-                                placement_group_creation_options.bundles,
-                                placement_group_creation_options.strategy);
+  builder.SetPlacementGroupSpec(
+      placement_group_id, placement_group_creation_options.name,
+      placement_group_creation_options.bundles, placement_group_creation_options.strategy,
+      worker_context_.GetCurrentJobID(), worker_context_.GetCurrentActorID(),
+      worker_context_.CurrentActorDetached());
   PlacementGroupSpecification placement_group_spec = builder.Build();
   *return_placement_group_id = placement_group_id;
   RAY_LOG(INFO) << "Submitting Placement Group creation to GCS: " << placement_group_id;
diff --git a/src/ray/gcs/gcs_server/gcs_actor_manager.cc b/src/ray/gcs/gcs_server/gcs_actor_manager.cc
index b0205c565..6ed5657b4 100644
--- a/src/ray/gcs/gcs_server/gcs_actor_manager.cc
+++ b/src/ray/gcs/gcs_server/gcs_actor_manager.cc
@@ -83,15 +83,19 @@ const rpc::ActorTableData &GcsActor::GetActorTableData() const {
 rpc::ActorTableData *GcsActor::GetMutableActorTableData() { return &actor_table_data_; }
 
 /////////////////////////////////////////////////////////////////////////////////////////
-GcsActorManager::GcsActorManager(std::shared_ptr<GcsActorSchedulerInterface> scheduler,
-                                 std::shared_ptr<gcs::GcsTableStorage> gcs_table_storage,
-                                 std::shared_ptr<gcs::GcsPubSub> gcs_pub_sub,
-                                 const rpc::ClientFactoryFn &worker_client_factory)
+GcsActorManager::GcsActorManager(
+    std::shared_ptr<GcsActorSchedulerInterface> scheduler,
+    std::shared_ptr<gcs::GcsTableStorage> gcs_table_storage,
+    std::shared_ptr<gcs::GcsPubSub> gcs_pub_sub,
+    std::function<void(const ActorID &)> destroy_owned_placement_group_if_needed,
+    const rpc::ClientFactoryFn &worker_client_factory)
     : gcs_actor_scheduler_(std::move(scheduler)),
       gcs_table_storage_(std::move(gcs_table_storage)),
       gcs_pub_sub_(std::move(gcs_pub_sub)),
-      worker_client_factory_(worker_client_factory) {
+      worker_client_factory_(worker_client_factory),
+      destroy_owned_placement_group_if_needed_(destroy_owned_placement_group_if_needed) {
   RAY_CHECK(worker_client_factory_);
+  RAY_CHECK(destroy_owned_placement_group_if_needed_);
 }
 
 void GcsActorManager::HandleRegisterActor(const rpc::RegisterActorRequest &request,
@@ -655,6 +659,8 @@ void GcsActorManager::DestroyActor(const ActorID &actor_id) {
         RAY_CHECK_OK(gcs_pub_sub_->Publish(ACTOR_CHANNEL, actor_id.Hex(),
                                            actor_table_data->SerializeAsString(),
                                            nullptr));
+        // Destroy placement group owned by this actor.
+        destroy_owned_placement_group_if_needed_(actor_id);
       }));
 }
 
@@ -800,6 +806,8 @@ void GcsActorManager::ReconstructActor(const ActorID &actor_id, bool need_resche
   int64_t max_restarts = mutable_actor_table_data->max_restarts();
   uint64_t num_restarts = mutable_actor_table_data->num_restarts();
   int64_t remaining_restarts;
+  // Destroy placement group owned by this actor.
+  destroy_owned_placement_group_if_needed_(actor_id);
   if (!need_reschedule) {
     remaining_restarts = 0;
   } else if (max_restarts == -1) {
@@ -848,7 +856,9 @@ void GcsActorManager::ReconstructActor(const ActorID &actor_id, bool need_resche
           // if actor was an detached actor, make sure to destroy it.
           // We need to do this because detached actors are not destroyed
           // when its owners are dead because it doesn't have owners.
-          if (actor->IsDetached()) DestroyActor(actor_id);
+          if (actor->IsDetached()) {
+            DestroyActor(actor_id);
+          }
           RAY_CHECK_OK(gcs_pub_sub_->Publish(
               ACTOR_CHANNEL, actor_id.Hex(),
               mutable_actor_table_data->SerializeAsString(), nullptr));
diff --git a/src/ray/gcs/gcs_server/gcs_actor_manager.h b/src/ray/gcs/gcs_server/gcs_actor_manager.h
index 995c3d4ce..213f2ed38 100644
--- a/src/ray/gcs/gcs_server/gcs_actor_manager.h
+++ b/src/ray/gcs/gcs_server/gcs_actor_manager.h
@@ -161,10 +161,12 @@ class GcsActorManager : public rpc::ActorInfoHandler {
   /// \param scheduler Used to schedule actor creation tasks.
   /// \param gcs_table_storage Used to flush actor data to storage.
   /// \param gcs_pub_sub Used to publish gcs message.
-  GcsActorManager(std::shared_ptr<GcsActorSchedulerInterface> scheduler,
-                  std::shared_ptr<gcs::GcsTableStorage> gcs_table_storage,
-                  std::shared_ptr<gcs::GcsPubSub> gcs_pub_sub,
-                  const rpc::ClientFactoryFn &worker_client_factory = nullptr);
+  GcsActorManager(
+      std::shared_ptr<GcsActorSchedulerInterface> scheduler,
+      std::shared_ptr<gcs::GcsTableStorage> gcs_table_storage,
+      std::shared_ptr<gcs::GcsPubSub> gcs_pub_sub,
+      std::function<void(const ActorID &)> destroy_ownded_placement_group_if_needed,
+      const rpc::ClientFactoryFn &worker_client_factory = nullptr);
 
   ~GcsActorManager() = default;
 
@@ -404,6 +406,10 @@ class GcsActorManager : public rpc::ActorInfoHandler {
   /// Factory to produce clients to workers. This is used to communicate with
   /// actors and their owners.
   rpc::ClientFactoryFn worker_client_factory_;
+  /// A callback that is used to destroy placemenet group owned by the actor.
+  /// This method MUST BE IDEMPOTENT because it can be called multiple times during
+  /// actor destroy process.
+  std::function<void(const ActorID &)> destroy_owned_placement_group_if_needed_;
 };
 
 }  // namespace gcs
diff --git a/src/ray/gcs/gcs_server/gcs_placement_group_manager.cc b/src/ray/gcs/gcs_server/gcs_placement_group_manager.cc
index 326381538..92953ec93 100644
--- a/src/ray/gcs/gcs_server/gcs_placement_group_manager.cc
+++ b/src/ray/gcs/gcs_server/gcs_placement_group_manager.cc
@@ -79,6 +79,27 @@ rpc::Bundle *GcsPlacementGroup::GetMutableBundle(int bundle_index) {
   return placement_group_table_data_.mutable_bundles(bundle_index);
 }
 
+const ActorID GcsPlacementGroup::GetCreatorActorId() const {
+  return ActorID::FromBinary(placement_group_table_data_.creator_actor_id());
+}
+
+const JobID GcsPlacementGroup::GetCreatorJobId() const {
+  return JobID::FromBinary(placement_group_table_data_.creator_job_id());
+}
+
+void GcsPlacementGroup::MarkCreatorJobDead() {
+  placement_group_table_data_.set_creator_job_dead(true);
+}
+
+void GcsPlacementGroup::MarkCreatorActorDead() {
+  placement_group_table_data_.set_creator_actor_dead(true);
+}
+
+bool GcsPlacementGroup::IsPlacementGroupRemovable() const {
+  return placement_group_table_data_.creator_job_dead() &&
+         placement_group_table_data_.creator_actor_dead();
+}
+
 /////////////////////////////////////////////////////////////////////////////////////////
 
 GcsPlacementGroupManager::GcsPlacementGroupManager(
@@ -177,8 +198,7 @@ void GcsPlacementGroupManager::SchedulePendingPlacementGroups() {
   const auto placement_group = pending_placement_groups_.front();
   const auto &placement_group_id = placement_group->GetPlacementGroupID();
   // Do not reschedule if the placement group has removed already.
-  if (registered_placement_groups_.find(placement_group_id) !=
-      registered_placement_groups_.end()) {
+  if (registered_placement_groups_.contains(placement_group_id)) {
     MarkSchedulingStarted(placement_group_id);
     gcs_placement_group_scheduler_->ScheduleUnplacedBundles(
         placement_group,
@@ -210,8 +230,7 @@ void GcsPlacementGroupManager::HandleCreatePlacementGroup(
       [this, request, reply, send_reply_callback, placement_group_id,
        placement_group](Status status) {
         RAY_CHECK_OK(status);
-        if (registered_placement_groups_.find(placement_group_id) ==
-            registered_placement_groups_.end()) {
+        if (!registered_placement_groups_.contains(placement_group_id)) {
           std::stringstream stream;
           stream << "Placement group of id " << placement_group_id
                  << " has been removed before registration.";
@@ -375,6 +394,34 @@ void GcsPlacementGroupManager::OnNodeDead(const NodeID &node_id) {
   SchedulePendingPlacementGroups();
 }
 
+void GcsPlacementGroupManager::CleanPlacementGroupIfNeededWhenJobDead(
+    const JobID &job_id) {
+  for (const auto &it : registered_placement_groups_) {
+    auto &placement_group = it.second;
+    if (placement_group->GetCreatorJobId() != job_id) {
+      continue;
+    }
+    placement_group->MarkCreatorJobDead();
+    if (placement_group->IsPlacementGroupRemovable()) {
+      RemovePlacementGroup(placement_group->GetPlacementGroupID(), [](Status status) {});
+    }
+  }
+}
+
+void GcsPlacementGroupManager::CleanPlacementGroupIfNeededWhenActorDead(
+    const ActorID &actor_id) {
+  for (const auto &it : registered_placement_groups_) {
+    auto &placement_group = it.second;
+    if (placement_group->GetCreatorActorId() != actor_id) {
+      continue;
+    }
+    placement_group->MarkCreatorActorDead();
+    if (placement_group->IsPlacementGroupRemovable()) {
+      RemovePlacementGroup(placement_group->GetPlacementGroupID(), [](Status status) {});
+    }
+  }
+}
+
 void GcsPlacementGroupManager::Tick() {
   UpdatePlacementGroupLoad();
   execute_after(io_context_, [this] { Tick(); }, 1000 /* milliseconds */);
diff --git a/src/ray/gcs/gcs_server/gcs_placement_group_manager.h b/src/ray/gcs/gcs_server/gcs_placement_group_manager.h
index e2e81b36e..c19ab4689 100644
--- a/src/ray/gcs/gcs_server/gcs_placement_group_manager.h
+++ b/src/ray/gcs/gcs_server/gcs_placement_group_manager.h
@@ -53,6 +53,13 @@ class GcsPlacementGroup {
     placement_group_table_data_.mutable_bundles()->CopyFrom(
         placement_group_spec.bundles());
     placement_group_table_data_.set_strategy(placement_group_spec.strategy());
+    placement_group_table_data_.set_creator_job_id(placement_group_spec.creator_job_id());
+    placement_group_table_data_.set_creator_actor_id(
+        placement_group_spec.creator_actor_id());
+    placement_group_table_data_.set_creator_job_dead(
+        placement_group_spec.creator_job_dead());
+    placement_group_table_data_.set_creator_actor_dead(
+        placement_group_spec.creator_actor_dead());
   }
 
   /// Get the immutable PlacementGroupTableData of this placement group.
@@ -82,18 +89,32 @@ class GcsPlacementGroup {
   /// Get the Strategy
   rpc::PlacementStrategy GetStrategy() const;
 
-  // Get debug string for the placement group.
+  /// Get debug string for the placement group.
   std::string DebugString() const;
 
+  /// Below fields are used for automatic cleanup of placement groups.
+
+  /// Get the actor id that created the placement group.
+  const ActorID GetCreatorActorId() const;
+
+  /// Get the job id that created the placement group.
+  const JobID GetCreatorJobId() const;
+
+  /// Mark that the creator job of this placement group is dead.
+  void MarkCreatorJobDead();
+
+  /// Mark that the creator actor of this placement group is dead.
+  void MarkCreatorActorDead();
+
+  /// Return True if the placement group is removable. False otherwise.
+  bool IsPlacementGroupRemovable() const;
+
  private:
   /// The placement_group meta data which contains the task specification as well as the
   /// state of the gcs placement_group and so on (see gcs.proto).
   rpc::PlacementGroupTableData placement_group_table_data_;
 };
 
-using RegisterPlacementGroupCallback =
-    std::function<void(std::shared_ptr<GcsPlacementGroup>)>;
-
 /// GcsPlacementGroupManager is responsible for managing the lifecycle of all placement
 /// group. This class is not thread-safe.
 /// The placementGroup will be added into queue and set the status as pending first and
@@ -176,6 +197,37 @@ class GcsPlacementGroupManager : public rpc::PlacementGroupInfoHandler {
   /// \param node_id The specified node id.
   void OnNodeDead(const NodeID &node_id);
 
+  /// Clean placement group that belongs to the job id if necessary.
+  ///
+  /// This interface is a part of automatic lifecycle management for placement groups.
+  /// When a job is killed, this method should be invoked to clean up
+  /// placement groups that belong to the given job.
+  ///
+  /// Calling this method doesn't mean placement groups that belong to the given job
+  /// will be cleaned. Placement groups are cleaned only when the creator job AND actor
+  /// are both dead.
+  ///
+  /// NOTE: This method is idempotent.
+  ///
+  /// \param job_id The job id where placement groups that need to be cleaned belong to.
+  void CleanPlacementGroupIfNeededWhenJobDead(const JobID &job_id);
+
+  /// Clean placement group that belongs to the actor id if necessary.
+  ///
+  /// This interface is a part of automatic lifecycle management for placement groups.
+  /// When an actor is killed, this method should be invoked to clean up
+  /// placement groups that belong to the given actor.
+  ///
+  /// Calling this method doesn't mean placement groups that belong to the given actor
+  /// will be cleaned. Placement groups are cleaned only when the creator job AND actor
+  /// are both dead.
+  ///
+  /// NOTE: This method is idempotent.
+  ///
+  /// \param actor_id The actor id where placement groups that need to be cleaned belong
+  /// to.
+  void CleanPlacementGroupIfNeededWhenActorDead(const ActorID &actor_id);
+
  private:
   /// Try to create placement group after a short time.
   void RetryCreatingPlacementGroup();
diff --git a/src/ray/gcs/gcs_server/gcs_server.cc b/src/ray/gcs/gcs_server/gcs_server.cc
index 7cbe050e4..a53437ef2 100644
--- a/src/ray/gcs/gcs_server/gcs_server.cc
+++ b/src/ray/gcs/gcs_server/gcs_server.cc
@@ -191,9 +191,14 @@ void GcsServer::InitGcsActorManager() {
         return std::make_shared<rpc::CoreWorkerClient>(address, client_call_manager_);
       });
   gcs_actor_manager_ = std::make_shared<GcsActorManager>(
-      scheduler, gcs_table_storage_, gcs_pub_sub_, [this](const rpc::Address &address) {
+      scheduler, gcs_table_storage_, gcs_pub_sub_,
+      [this](const ActorID &actor_id) {
+        gcs_placement_group_manager_->CleanPlacementGroupIfNeededWhenActorDead(actor_id);
+      },
+      [this](const rpc::Address &address) {
         return std::make_shared<rpc::CoreWorkerClient>(address, client_call_manager_);
       });
+
   gcs_node_manager_->AddNodeAddedListener(
       [this](const std::shared_ptr<rpc::GcsNodeInfo> &) {
         // Because a new node has been added, we need to try to schedule the pending
@@ -227,6 +232,7 @@ void GcsServer::InitGcsJobManager() {
       std::unique_ptr<GcsJobManager>(new GcsJobManager(gcs_table_storage_, gcs_pub_sub_));
   gcs_job_manager_->AddJobFinishedListener([this](std::shared_ptr<JobID> job_id) {
     gcs_actor_manager_->OnJobFinished(*job_id);
+    gcs_placement_group_manager_->CleanPlacementGroupIfNeededWhenJobDead(*job_id);
   });
 }
 
diff --git a/src/ray/gcs/gcs_server/test/gcs_actor_manager_test.cc b/src/ray/gcs/gcs_server/test/gcs_actor_manager_test.cc
index c543603df..de3fc8fb6 100644
--- a/src/ray/gcs/gcs_server/test/gcs_actor_manager_test.cc
+++ b/src/ray/gcs/gcs_server/test/gcs_actor_manager_test.cc
@@ -87,6 +87,7 @@ class GcsActorManagerTest : public ::testing::Test {
     gcs_table_storage_ = std::make_shared<gcs::InMemoryGcsTableStorage>(io_service_);
     gcs_actor_manager_.reset(new gcs::GcsActorManager(
         mock_actor_scheduler_, gcs_table_storage_, gcs_pub_sub_,
+        [](const ActorID &actor_id) {},
         [this](const rpc::Address &addr) { return worker_client_; }));
   }
 
diff --git a/src/ray/gcs/gcs_server/test/gcs_placement_group_manager_test.cc b/src/ray/gcs/gcs_server/test/gcs_placement_group_manager_test.cc
index b5b357896..f7cf0927b 100644
--- a/src/ray/gcs/gcs_server/test/gcs_placement_group_manager_test.cc
+++ b/src/ray/gcs/gcs_server/test/gcs_placement_group_manager_test.cc
@@ -351,6 +351,132 @@ TEST_F(GcsPlacementGroupManagerTest, TestRescheduleWhenNodeDead) {
             placement_group->GetPlacementGroupID());
 }
 
+TEST_F(GcsPlacementGroupManagerTest, TestAutomaticCleanupWhenActorDeadAndJobDead) {
+  // Test the scenario where actor dead -> job dead.
+  const auto job_id = JobID::FromInt(1);
+  const auto actor_id = ActorID::Of(job_id, TaskID::Nil(), 0);
+  auto request = Mocker::GenCreatePlacementGroupRequest(
+      /* name */ "", rpc::PlacementStrategy::SPREAD,
+      /* bundles_count */ 2,
+      /* cpu_num */ 1.0,
+      /* job_id */ job_id,
+      /* actor_id */ actor_id);
+  std::atomic<int> finished_placement_group_count(0);
+  gcs_placement_group_manager_->RegisterPlacementGroup(
+      std::make_shared<gcs::GcsPlacementGroup>(request),
+      [&finished_placement_group_count](Status status) {
+        ++finished_placement_group_count;
+      });
+  auto placement_group = mock_placement_group_scheduler_->placement_groups_.back();
+  auto placement_group_id = placement_group->GetPlacementGroupID();
+  gcs_placement_group_manager_->OnPlacementGroupCreationSuccess(placement_group);
+  WaitForExpectedCount(finished_placement_group_count, 1);
+  // When both job and actor is dead, placement group should be destroyed.
+  EXPECT_CALL(*mock_placement_group_scheduler_,
+              DestroyPlacementGroupBundleResourcesIfExists(placement_group_id))
+      .Times(0);
+  gcs_placement_group_manager_->CleanPlacementGroupIfNeededWhenActorDead(actor_id);
+  // Placement group shouldn't be cleaned when only an actor is killed.
+  // When both job and actor is dead, placement group should be destroyed.
+  EXPECT_CALL(*mock_placement_group_scheduler_,
+              DestroyPlacementGroupBundleResourcesIfExists(placement_group_id))
+      .Times(1);
+  gcs_placement_group_manager_->CleanPlacementGroupIfNeededWhenJobDead(job_id);
+}
+
+TEST_F(GcsPlacementGroupManagerTest, TestAutomaticCleanupWhenActorAndJobDead) {
+  // Test the scenario where job dead -> actor dead.
+  const auto job_id = JobID::FromInt(1);
+  const auto actor_id = ActorID::Of(job_id, TaskID::Nil(), 0);
+  auto request = Mocker::GenCreatePlacementGroupRequest(
+      /* name */ "", rpc::PlacementStrategy::SPREAD,
+      /* bundles_count */ 2,
+      /* cpu_num */ 1.0,
+      /* job_id */ job_id,
+      /* actor_id */ actor_id);
+  std::atomic<int> finished_placement_group_count(0);
+  gcs_placement_group_manager_->RegisterPlacementGroup(
+      std::make_shared<gcs::GcsPlacementGroup>(request),
+      [&finished_placement_group_count](Status status) {
+        ++finished_placement_group_count;
+      });
+  auto placement_group = mock_placement_group_scheduler_->placement_groups_.back();
+  auto placement_group_id = placement_group->GetPlacementGroupID();
+  gcs_placement_group_manager_->OnPlacementGroupCreationSuccess(placement_group);
+  WaitForExpectedCount(finished_placement_group_count, 1);
+  EXPECT_CALL(*mock_placement_group_scheduler_,
+              DestroyPlacementGroupBundleResourcesIfExists(placement_group_id))
+      .Times(0);
+  gcs_placement_group_manager_->CleanPlacementGroupIfNeededWhenJobDead(job_id);
+  // Placement group shouldn't be cleaned when only an actor is killed.
+  EXPECT_CALL(*mock_placement_group_scheduler_,
+              DestroyPlacementGroupBundleResourcesIfExists(placement_group_id))
+      .Times(1);
+  // This method should ensure idempotency.
+  gcs_placement_group_manager_->CleanPlacementGroupIfNeededWhenActorDead(actor_id);
+  gcs_placement_group_manager_->CleanPlacementGroupIfNeededWhenActorDead(actor_id);
+  gcs_placement_group_manager_->CleanPlacementGroupIfNeededWhenActorDead(actor_id);
+}
+
+TEST_F(GcsPlacementGroupManagerTest, TestAutomaticCleanupWhenOnlyJobDead) {
+  // Test placement group is cleaned when both actor & job are dead.
+  const auto job_id = JobID::FromInt(1);
+  auto request = Mocker::GenCreatePlacementGroupRequest(
+      /* name */ "", rpc::PlacementStrategy::SPREAD,
+      /* bundles_count */ 2,
+      /* cpu_num */ 1.0,
+      /* job_id */ job_id,
+      /* actor_id */ ActorID::Nil());
+  std::atomic<int> finished_placement_group_count(0);
+  gcs_placement_group_manager_->RegisterPlacementGroup(
+      std::make_shared<gcs::GcsPlacementGroup>(request),
+      [&finished_placement_group_count](Status status) {
+        ++finished_placement_group_count;
+      });
+  auto placement_group = mock_placement_group_scheduler_->placement_groups_.back();
+  auto placement_group_id = placement_group->GetPlacementGroupID();
+  gcs_placement_group_manager_->OnPlacementGroupCreationSuccess(placement_group);
+  WaitForExpectedCount(finished_placement_group_count, 1);
+  EXPECT_CALL(*mock_placement_group_scheduler_,
+              DestroyPlacementGroupBundleResourcesIfExists(placement_group_id))
+      .Times(1);
+  // This method should ensure idempotency.
+  gcs_placement_group_manager_->CleanPlacementGroupIfNeededWhenJobDead(job_id);
+  gcs_placement_group_manager_->CleanPlacementGroupIfNeededWhenJobDead(job_id);
+  gcs_placement_group_manager_->CleanPlacementGroupIfNeededWhenJobDead(job_id);
+}
+
+TEST_F(GcsPlacementGroupManagerTest,
+       TestAutomaticCleanupDoNothingWhenDifferentJobIsDead) {
+  // Test placement group is cleaned when both actor & job are dead.
+  const auto job_id = JobID::FromInt(1);
+  const auto different_job_id = JobID::FromInt(3);
+  auto request = Mocker::GenCreatePlacementGroupRequest(
+      /* name */ "", rpc::PlacementStrategy::SPREAD,
+      /* bundles_count */ 2,
+      /* cpu_num */ 1.0,
+      /* job_id */ job_id,
+      /* actor_id */ ActorID::Nil());
+  std::atomic<int> finished_placement_group_count(0);
+  gcs_placement_group_manager_->RegisterPlacementGroup(
+      std::make_shared<gcs::GcsPlacementGroup>(request),
+      [&finished_placement_group_count](Status status) {
+        ++finished_placement_group_count;
+      });
+  auto placement_group = mock_placement_group_scheduler_->placement_groups_.back();
+  auto placement_group_id = placement_group->GetPlacementGroupID();
+  gcs_placement_group_manager_->OnPlacementGroupCreationSuccess(placement_group);
+  WaitForExpectedCount(finished_placement_group_count, 1);
+  // This shouldn't have been called.
+  EXPECT_CALL(*mock_placement_group_scheduler_,
+              DestroyPlacementGroupBundleResourcesIfExists(placement_group_id))
+      .Times(0);
+  // This method should ensure idempotency.
+  gcs_placement_group_manager_->CleanPlacementGroupIfNeededWhenJobDead(different_job_id);
+  gcs_placement_group_manager_->CleanPlacementGroupIfNeededWhenJobDead(different_job_id);
+  gcs_placement_group_manager_->CleanPlacementGroupIfNeededWhenJobDead(different_job_id);
+}
+
 }  // namespace ray
 
 int main(int argc, char **argv) {
diff --git a/src/ray/gcs/test/gcs_test_util.h b/src/ray/gcs/test/gcs_test_util.h
index 5192d7397..d96f6ea1f 100644
--- a/src/ray/gcs/test/gcs_test_util.h
+++ b/src/ray/gcs/test/gcs_test_util.h
@@ -81,18 +81,20 @@ struct Mocker {
   static PlacementGroupSpecification GenPlacementGroupCreation(
       const std::string &name,
       std::vector<std::unordered_map<std::string, double>> &bundles,
-      rpc::PlacementStrategy strategy) {
+      rpc::PlacementStrategy strategy, const JobID &job_id, const ActorID &actor_id) {
     PlacementGroupSpecBuilder builder;
 
     auto placement_group_id = PlacementGroupID::FromRandom();
-    builder.SetPlacementGroupSpec(placement_group_id, name, bundles, strategy);
+    builder.SetPlacementGroupSpec(placement_group_id, name, bundles, strategy, job_id,
+                                  actor_id, /* is_creator_detached */ false);
     return builder.Build();
   }
 
   static rpc::CreatePlacementGroupRequest GenCreatePlacementGroupRequest(
       const std::string name = "",
       rpc::PlacementStrategy strategy = rpc::PlacementStrategy::SPREAD,
-      int bundles_count = 2, double cpu_num = 1.0) {
+      int bundles_count = 2, double cpu_num = 1.0, const JobID job_id = JobID::FromInt(1),
+      const ActorID &actor_id = ActorID::Nil()) {
     rpc::CreatePlacementGroupRequest request;
     std::vector<std::unordered_map<std::string, double>> bundles;
     std::unordered_map<std::string, double> bundle;
@@ -101,7 +103,7 @@ struct Mocker {
       bundles.push_back(bundle);
     }
     auto placement_group_creation_spec =
-        GenPlacementGroupCreation(name, bundles, strategy);
+        GenPlacementGroupCreation(name, bundles, strategy, job_id, actor_id);
     request.mutable_placement_group_spec()->CopyFrom(
         placement_group_creation_spec.GetMessage());
     return request;
diff --git a/src/ray/protobuf/common.proto b/src/ray/protobuf/common.proto
index 99e654c45..60f418e8e 100644
--- a/src/ray/protobuf/common.proto
+++ b/src/ray/protobuf/common.proto
@@ -214,6 +214,14 @@ message PlacementGroupSpec {
   repeated Bundle bundles = 3;
   // The schedule strategy of this Placement Group.
   PlacementStrategy strategy = 4;
+  // The job id that created this placement group.
+  bytes creator_job_id = 5;
+  // The actor id that created this placement group.
+  bytes creator_actor_id = 6;
+  // Whether or not if the creator job is dead.
+  bool creator_job_dead = 7;
+  // Whether or not if the creator actor is dead.
+  bool creator_actor_dead = 8;
 }
 
 message ObjectReference {
diff --git a/src/ray/protobuf/gcs.proto b/src/ray/protobuf/gcs.proto
index 25f34e2bc..fd4b4cd2a 100644
--- a/src/ray/protobuf/gcs.proto
+++ b/src/ray/protobuf/gcs.proto
@@ -181,6 +181,16 @@ message PlacementGroupTableData {
   PlacementStrategy strategy = 4;
   // Current state of this placement group.
   PlacementGroupState state = 5;
+  // Fields to detect the owner of the placement group
+  // for automatic lifecycle management.
+  // The job id that created this placement group.
+  bytes creator_job_id = 6;
+  // The actor id that created this placement group.
+  bytes creator_actor_id = 7;
+  // Whether or not if the creator job is dead.
+  bool creator_job_dead = 8;
+  // Whether or not if the creator actor is dead.
+  bool creator_actor_dead = 9;
 }
 
 message ScheduleData {