diff --git a/pkg/controller/ipam/antrea_ipam_controller.go b/pkg/controller/ipam/antrea_ipam_controller.go
index 3cc5173a52e..7a076d5bb42 100644
--- a/pkg/controller/ipam/antrea_ipam_controller.go
+++ b/pkg/controller/ipam/antrea_ipam_controller.go
@@ -18,6 +18,7 @@ import (
 	"context"
 	"encoding/json"
 	"fmt"
+	"net"
 	"strings"
 	"time"
 
@@ -253,7 +254,24 @@ func (c *AntreaIPAMController) cleanIPPoolForStatefulSet(namespacedName string)
 }
 
 // Find IP Pools annotated to StatefulSet via direct annotation or Namespace annotation
-func (c *AntreaIPAMController) getIPPoolsForStatefulSet(ss *appsv1.StatefulSet) []string {
+func (c *AntreaIPAMController) getIPPoolsForStatefulSet(ss *appsv1.StatefulSet) ([]string, []net.IP) {
+
+	// Inspect IP annotation for the Pods
+	ipStrings, _ := ss.Spec.Template.Annotations[annotation.AntreaIPAMPodIPAnnotationKey]
+	ipStrings = strings.ReplaceAll(ipStrings, " ", "")
+	var ips []net.IP
+	if ipStrings != "" {
+		splittedIPStrings := strings.Split(ipStrings, annotation.AntreaIPAMAnnotationDelimiter)
+		for _, ipString := range splittedIPStrings {
+			ip := net.ParseIP(ipString)
+			if ipString != "" && ip == nil {
+				klog.Errorf("invalid IP annotation %s", ipStrings)
+				ips = nil
+				break
+			}
+			ips = append(ips, ip)
+		}
+	}
 
 	// Inspect pool annotation for the Pods
 	// In order to avoid extra API call in IPAM driver, IPAM annotations are defined
@@ -261,7 +279,7 @@ func (c *AntreaIPAMController) getIPPoolsForStatefulSet(ss *appsv1.StatefulSet)
 	annotations, exists := ss.Spec.Template.Annotations[annotation.AntreaIPAMAnnotationKey]
 	if exists {
 		// Stateful Set Pod is annotated with dedicated IP pool
-		return strings.Split(annotations, annotation.AntreaIPAMAnnotationDelimiter)
+		return strings.Split(annotations, annotation.AntreaIPAMAnnotationDelimiter), ips
 	}
 
 	// Inspect Namespace
@@ -269,15 +287,15 @@ func (c *AntreaIPAMController) getIPPoolsForStatefulSet(ss *appsv1.StatefulSet)
 	if err != nil {
 		// Should never happen
 		klog.Errorf("Namespace %s not found for StatefulSet %s", ss.Namespace, ss.Name)
-		return nil
+		return nil, nil
 	}
 
 	annotations, exists = namespace.Annotations[annotation.AntreaIPAMAnnotationKey]
 	if exists {
-		return strings.Split(annotations, annotation.AntreaIPAMAnnotationDelimiter)
+		return strings.Split(annotations, annotation.AntreaIPAMAnnotationDelimiter), ips
 	}
 
-	return nil
+	return nil, nil
 
 }
 
@@ -287,7 +305,11 @@ func (c *AntreaIPAMController) getIPPoolsForStatefulSet(ss *appsv1.StatefulSet)
 func (c *AntreaIPAMController) preallocateIPPoolForStatefulSet(ss *appsv1.StatefulSet) error {
 	klog.InfoS("Processing create notification", "Namespace", ss.Namespace, "StatefulSet", ss.Name)
 
-	ipPools := c.getIPPoolsForStatefulSet(ss)
+	ipPools, ips := c.getIPPoolsForStatefulSet(ss)
+	var ip net.IP
+	if len(ips) > 0 {
+		ip = ips[0]
+	}
 
 	if ipPools == nil {
 		// nothing to preallocate
@@ -310,7 +332,7 @@ func (c *AntreaIPAMController) preallocateIPPoolForStatefulSet(ss *appsv1.Statef
 	// in the pool. This safeguards us from double allocation in case agent allocated IP by the time
 	// controller task is executed. Note also that StatefulSet resize will not be handled.
 	if size > 0 {
-		err = allocator.AllocateStatefulSet(ss.Namespace, ss.Name, size)
+		err = allocator.AllocateStatefulSet(ss.Namespace, ss.Name, size, ip)
 		if err != nil {
 			return fmt.Errorf("failed to preallocate continuous IP space of size %d from Pool %s: %s", size, ipPoolName, err)
 		}
diff --git a/pkg/ipam/poolallocator/allocator.go b/pkg/ipam/poolallocator/allocator.go
index e1e09965583..3319722c21c 100644
--- a/pkg/ipam/poolallocator/allocator.go
+++ b/pkg/ipam/poolallocator/allocator.go
@@ -435,7 +435,7 @@ func (a *IPPoolAllocator) AllocateReservedOrNext(state v1alpha2.IPAddressPhase,
 // This functionality is useful when StatefulSet does not have a dedicated IP Pool assigned.
 // It returns error if such range is not available. In this case IPs for the StatefulSet will
 // be allocated on the fly, and there is no guarantee for continuous IPs.
-func (a *IPPoolAllocator) AllocateStatefulSet(namespace, name string, size int) error {
+func (a *IPPoolAllocator) AllocateStatefulSet(namespace, name string, size int, ip net.IP) error {
 	// Retry on CRD update conflict which is caused by multiple agents updating a pool at same time.
 	err := retry.RetryOnConflict(retry.DefaultRetry, func() error {
 		ipPool, allocators, err := a.getPoolAndInitIPAllocators()
@@ -450,7 +450,13 @@ func (a *IPPoolAllocator) AllocateStatefulSet(namespace, name string, size int)
 			}
 		}
 
-		ips, err := allocators.AllocateRange(size)
+		var ips []net.IP
+		if size == 1 && ip != nil {
+			err = allocators.AllocateIP(ip)
+			ips = []net.IP{ip}
+		} else {
+			ips, err = allocators.AllocateRange(size)
+		}
 		if err != nil {
 			return err
 		}
diff --git a/pkg/ipam/poolallocator/allocator_test.go b/pkg/ipam/poolallocator/allocator_test.go
index 6900ff8aa1c..7238352d130 100644
--- a/pkg/ipam/poolallocator/allocator_test.go
+++ b/pkg/ipam/poolallocator/allocator_test.go
@@ -421,7 +421,7 @@ func TestAllocateReleaseStatefulSet(t *testing.T) {
 	}
 
 	allocator := newTestIPPoolAllocator(&pool, stopCh)
-	err := allocator.AllocateStatefulSet(testNamespace, setName, 7)
+	err := allocator.AllocateStatefulSet(testNamespace, setName, 7, nil)
 	require.NoError(t, err)
 
 	// Make sure reserved IPs are respected for next allocate
@@ -433,4 +433,20 @@ func TestAllocateReleaseStatefulSet(t *testing.T) {
 
 	// Make sure reserved IPs are released
 	validateAllocationSequence(t, allocator, subnetInfo, []string{"10.2.2.100"})
+
+	err = allocator.AllocateStatefulSet(testNamespace, setName, 1, net.ParseIP("10.2.2.101"))
+	require.NoError(t, err)
+
+	// Make sure reserved IPs are respected for next allocate
+	validateAllocationSequence(t, allocator, subnetInfo, []string{"10.2.2.100", "10.2.2.102"})
+
+	// Release the set
+	err = allocator.ReleaseStatefulSet(testNamespace, setName)
+	require.NoError(t, err)
+
+	// Make sure reserved IPs are released
+	validateAllocationSequence(t, allocator, subnetInfo, []string{"10.2.2.100"})
+
+	err = allocator.AllocateStatefulSet(testNamespace, setName, 1, net.ParseIP("10.2.3.101"))
+	require.Error(t, err)
 }