diff --git a/api/sys_raft.go b/api/sys_raft.go
index 29bfed0f5613b..4b9487c61d559 100644
--- a/api/sys_raft.go
+++ b/api/sys_raft.go
@@ -276,11 +276,19 @@ func (c *Sys) RaftAutopilotState() (*AutopilotState, error) {
 	return c.RaftAutopilotStateWithContext(context.Background())
 }
 
+// RaftAutopilotStateWithToken wraps RaftAutopilotStateWithContext using the given token.
+func (c *Sys) RaftAutopilotStateWithDRToken(drToken string) (*AutopilotState, error) {
+	return c.RaftAutopilotStateWithContext(context.WithValue(context.Background(), "dr-token", drToken))
+}
+
 // RaftAutopilotStateWithContext returns the state of the raft cluster as seen by autopilot.
 func (c *Sys) RaftAutopilotStateWithContext(ctx context.Context) (*AutopilotState, error) {
 	ctx, cancelFunc := c.c.withConfiguredTimeout(ctx)
 	defer cancelFunc()
 
+	if ctx.Value("dr-token") != nil {
+		c.c.SetToken(ctx.Value("dr-token").(string))
+	}
 	r := c.c.NewRequest(http.MethodGet, "/v1/sys/storage/raft/autopilot/state")
 
 	resp, err := c.c.rawRequestWithContext(ctx, r)
@@ -316,11 +324,20 @@ func (c *Sys) RaftAutopilotConfiguration() (*AutopilotConfig, error) {
 	return c.RaftAutopilotConfigurationWithContext(context.Background())
 }
 
+// RaftAutopilotConfigurationWithDRToken wraps RaftAutopilotConfigurationWithContext using the given token.
+func (c *Sys) RaftAutopilotConfigurationWithDRToken(drToken string) (*AutopilotConfig, error) {
+	return c.RaftAutopilotConfigurationWithContext(context.WithValue(context.Background(), "dr-token", drToken))
+}
+
 // RaftAutopilotConfigurationWithContext fetches the autopilot config.
 func (c *Sys) RaftAutopilotConfigurationWithContext(ctx context.Context) (*AutopilotConfig, error) {
 	ctx, cancelFunc := c.c.withConfiguredTimeout(ctx)
 	defer cancelFunc()
 
+	if ctx.Value("dr-token") != nil {
+		c.c.SetToken(ctx.Value("dr-token").(string))
+	}
+
 	r := c.c.NewRequest(http.MethodGet, "/v1/sys/storage/raft/autopilot/configuration")
 
 	resp, err := c.c.rawRequestWithContext(ctx, r)
diff --git a/changelog/21165.txt b/changelog/21165.txt
new file mode 100644
index 0000000000000..dd6b6d05de0d9
--- /dev/null
+++ b/changelog/21165.txt
@@ -0,0 +1,3 @@
+```release-note:bug
+raft/autopilot: Add dr-token flag for raft autopilot cli commands
+```
diff --git a/command/operator_raft_autopilot_get_config.go b/command/operator_raft_autopilot_get_config.go
index 11d7da87d8950..736469bbc601e 100644
--- a/command/operator_raft_autopilot_get_config.go
+++ b/command/operator_raft_autopilot_get_config.go
@@ -7,6 +7,7 @@ import (
 	"fmt"
 	"strings"
 
+	"github.com/hashicorp/vault/api"
 	"github.com/mitchellh/cli"
 	"github.com/posener/complete"
 )
@@ -18,6 +19,7 @@ var (
 
 type OperatorRaftAutopilotGetConfigCommand struct {
 	*BaseCommand
+	flagDRToken string
 }
 
 func (c *OperatorRaftAutopilotGetConfigCommand) Synopsis() string {
@@ -37,6 +39,17 @@ Usage: vault operator raft autopilot get-config
 func (c *OperatorRaftAutopilotGetConfigCommand) Flags() *FlagSets {
 	set := c.flagSet(FlagSetHTTP | FlagSetOutputFormat)
 
+	f := set.NewFlagSet("Command Options")
+
+	f.StringVar(&StringVar{
+		Name:       "dr-token",
+		Target:     &c.flagDRToken,
+		Default:    "",
+		EnvVar:     "",
+		Completion: complete.PredictAnything,
+		Usage:      "DR operation token used to authorize this request (if a DR secondary node).",
+	})
+
 	return set
 }
 
@@ -70,10 +83,12 @@ func (c *OperatorRaftAutopilotGetConfigCommand) Run(args []string) int {
 		return 2
 	}
 
-	config, err := client.Sys().RaftAutopilotConfiguration()
-	if err != nil {
-		c.UI.Error(err.Error())
-		return 2
+	var config *api.AutopilotConfig
+	switch {
+	case c.flagDRToken != "":
+		config, err = client.Sys().RaftAutopilotConfigurationWithDRToken(c.flagDRToken)
+	default:
+		config, err = client.Sys().RaftAutopilotConfiguration()
 	}
 
 	if config == nil {
diff --git a/command/operator_raft_autopilot_set_config.go b/command/operator_raft_autopilot_set_config.go
index 0d9a5f3362951..384667028b430 100644
--- a/command/operator_raft_autopilot_set_config.go
+++ b/command/operator_raft_autopilot_set_config.go
@@ -26,6 +26,7 @@ type OperatorRaftAutopilotSetConfigCommand struct {
 	flagMinQuorum                      uint
 	flagServerStabilizationTime        time.Duration
 	flagDisableUpgradeMigration        BoolPtr
+	flagDRToken                        string
 }
 
 func (c *OperatorRaftAutopilotSetConfigCommand) Synopsis() string {
@@ -50,36 +51,52 @@ func (c *OperatorRaftAutopilotSetConfigCommand) Flags() *FlagSets {
 	f.BoolPtrVar(&BoolPtrVar{
 		Name:   "cleanup-dead-servers",
 		Target: &c.flagCleanupDeadServers,
+		Usage:  "Controls whether to remove dead servers from the Raft peer list periodically or when a new server joins.",
 	})
 
 	f.DurationVar(&DurationVar{
 		Name:   "last-contact-threshold",
 		Target: &c.flagLastContactThreshold,
+		Usage:  "Limit on the amount of time a server can go without leader contact before being considered unhealthy.",
 	})
 
 	f.DurationVar(&DurationVar{
 		Name:   "dead-server-last-contact-threshold",
 		Target: &c.flagDeadServerLastContactThreshold,
+		Usage:  "Limit on the amount of time a server can go without leader contact before being considered failed. This takes effect only when cleanup_dead_servers is set.",
 	})
 
 	f.Uint64Var(&Uint64Var{
 		Name:   "max-trailing-logs",
 		Target: &c.flagMaxTrailingLogs,
+		Usage:  "Amount of entries in the Raft Log that a server can be behind before being considered unhealthy.",
 	})
 
 	f.UintVar(&UintVar{
 		Name:   "min-quorum",
 		Target: &c.flagMinQuorum,
+		Usage:  "Minimum number of servers allowed in a cluster before autopilot can prune dead servers. This should at least be 3.",
 	})
 
 	f.DurationVar(&DurationVar{
 		Name:   "server-stabilization-time",
 		Target: &c.flagServerStabilizationTime,
+		Usage:  "Minimum amount of time a server must be in a stable, healthy state before it can be added to the cluster.",
 	})
 
 	f.BoolPtrVar(&BoolPtrVar{
 		Name:   "disable-upgrade-migration",
 		Target: &c.flagDisableUpgradeMigration,
+		Usage:  "Whether or not to perform automated version upgrades.",
+	})
+
+	f.StringVar(&StringVar{
+		Name:       "dr-token",
+		Target:     &c.flagDRToken,
+		Default:    "",
+		EnvVar:     "",
+		Completion: complete.PredictAnything,
+		Usage:      "DR operation token used to authorize this request (if a DR secondary node).",
 	})
 
 	return set
@@ -137,6 +154,9 @@ func (c *OperatorRaftAutopilotSetConfigCommand) Run(args []string) int {
 	if c.flagDisableUpgradeMigration.IsSet() {
 		data["disable_upgrade_migration"] = c.flagDisableUpgradeMigration.Get()
 	}
+	if c.flagDRToken != "" {
+		data["dr_operation_token"] = c.flagDRToken
+	}
 
 	secret, err := client.Logical().Write("sys/storage/raft/autopilot/configuration", data)
 	if err != nil {
diff --git a/command/operator_raft_autopilot_state.go b/command/operator_raft_autopilot_state.go
index 99f188aae78f0..8e7b670866186 100644
--- a/command/operator_raft_autopilot_state.go
+++ b/command/operator_raft_autopilot_state.go
@@ -8,6 +8,7 @@ import (
 	"fmt"
 	"strings"
 
+	"github.com/hashicorp/vault/api"
 	"github.com/mitchellh/cli"
 	"github.com/posener/complete"
 )
@@ -19,6 +20,7 @@ var (
 
 type OperatorRaftAutopilotStateCommand struct {
 	*BaseCommand
+	flagDRToken string
 }
 
 func (c *OperatorRaftAutopilotStateCommand) Synopsis() string {
@@ -38,6 +40,17 @@ Usage: vault operator raft autopilot state
 func (c *OperatorRaftAutopilotStateCommand) Flags() *FlagSets {
 	set := c.flagSet(FlagSetHTTP | FlagSetOutputFormat)
 
+	f := set.NewFlagSet("Command Options")
+
+	f.StringVar(&StringVar{
+		Name:       "dr-token",
+		Target:     &c.flagDRToken,
+		Default:    "",
+		EnvVar:     "",
+		Completion: complete.PredictAnything,
+		Usage:      "DR operation token used to authorize this request (if a DR secondary node).",
+	})
+
 	// The output of the state endpoint contains nested values and is not fit for
 	// the default "table" display format. Override the default display format to
 	// "pretty", both in the flag and in the UI.
@@ -83,7 +96,14 @@ func (c *OperatorRaftAutopilotStateCommand) Run(args []string) int {
 		return 2
 	}
 
-	state, err := client.Sys().RaftAutopilotState()
+	var state *api.AutopilotState
+	switch {
+	case c.flagDRToken != "":
+		state, err = client.Sys().RaftAutopilotStateWithDRToken(c.flagDRToken)
+	default:
+		state, err = client.Sys().RaftAutopilotState()
+	}
+
 	if err != nil {
 		c.UI.Error(fmt.Sprintf("Error checking autopilot state: %s", err))
 		return 2
diff --git a/vault/logical_system_raft.go b/vault/logical_system_raft.go
index 483c24fc5b8b3..4e9befcfaf380 100644
--- a/vault/logical_system_raft.go
+++ b/vault/logical_system_raft.go
@@ -196,6 +196,10 @@ func (b *SystemBackend) raftStoragePaths() []*framework.Path {
 					Type:        framework.TypeBool,
 					Description: "Whether or not to perform automated version upgrades.",
 				},
+				"dr_operation_token": {
+					Type:        framework.TypeString,
+					Description: "DR operation token used to authorize this request (if a DR secondary node).",
+				},
 			},
 
 			Operations: map[logical.Operation]framework.OperationHandler{