diff --git a/clients/src/main/java/org/apache/kafka/common/utils/CircularIterator.java b/clients/src/main/java/org/apache/kafka/common/utils/CircularIterator.java
index 3e7d5eb29fbcc..925f4adf9e9f7 100644
--- a/clients/src/main/java/org/apache/kafka/common/utils/CircularIterator.java
+++ b/clients/src/main/java/org/apache/kafka/common/utils/CircularIterator.java
@@ -14,22 +14,54 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
+
 package org.apache.kafka.common.utils;
 
+import java.util.Collection;
+import java.util.ConcurrentModificationException;
 import java.util.Iterator;
-import java.util.List;
+import java.util.Objects;
 
+/**
+ * An iterator that cycles through the {@code Iterator} of a {@code Collection}
+ * indefinitely. Useful for tasks such as round-robin load balancing. This class
+ * does not provide thread-safe access. This {@code Iterator} supports
+ * {@code null} elements in the underlying {@code Collection}. This
+ * {@code Iterator} does not support any modification to the underlying
+ * {@code Collection} after it has been wrapped by this class. Changing the
+ * underlying {@code Collection} may cause a
+ * {@link ConcurrentModificationException} or some other undefined behavior.
+ */
 public class CircularIterator<T> implements Iterator<T> {
-    int i = 0;
-    private List<T> list;
 
-    public CircularIterator(List<T> list) {
-        if (list.isEmpty()) {
+    private final Iterable<T> iterable;
+    private Iterator<T> iterator;
+    private T nextValue;
+
+    /**
+     * Create a new instance of a CircularIterator. The ordering of this
+     * Iterator will be dictated by the Iterator returned by Collection itself.
+     *
+     * @param col The collection to iterate indefinitely
+     *
+     * @throws NullPointerException if col is {@code null}
+     * @throws IllegalArgumentException if col is empty.
+     */
+    public CircularIterator(final Collection<T> col) {
+        this.iterable = Objects.requireNonNull(col);
+        this.iterator = col.iterator();
+        if (col.isEmpty()) {
             throw new IllegalArgumentException("CircularIterator can only be used on non-empty lists");
         }
-        this.list = list;
+        this.nextValue = advance();
     }
 
+    /**
+     * Returns true since the iteration will forever cycle through the provided
+     * {@code Collection}.
+     *
+     * @return Always true
+     */
     @Override
     public boolean hasNext() {
         return true;
@@ -37,13 +69,34 @@ public boolean hasNext() {
 
     @Override
     public T next() {
-        T next = list.get(i);
-        i = (i + 1) % list.size();
+        final T next = nextValue;
+        nextValue = advance();
         return next;
     }
 
+    /**
+     * Return the next value in the {@code Iterator}, restarting the
+     * {@code Iterator} if necessary.
+     *
+     * @return The next value in the iterator
+     */
+    private T advance() {
+        if (!iterator.hasNext()) {
+            iterator = iterable.iterator();
+        }
+        return iterator.next();
+    }
+
+    /**
+     * Peek at the next value in the Iterator. Calling this method multiple
+     * times will return the same element without advancing this Iterator. The
+     * value returned by this method will be the next item returned by
+     * {@code next()}.
+     *
+     * @return The next value in this {@code Iterator}
+     */
     public T peek() {
-        return list.get(i);
+        return nextValue;
     }
 
     @Override
diff --git a/clients/src/test/java/org/apache/kafka/common/utils/CircularIteratorTest.java b/clients/src/test/java/org/apache/kafka/common/utils/CircularIteratorTest.java
new file mode 100644
index 0000000000000..a37c85e4beeae
--- /dev/null
+++ b/clients/src/test/java/org/apache/kafka/common/utils/CircularIteratorTest.java
@@ -0,0 +1,66 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License. You may obtain a copy of the License at
+ *
+ *    http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.kafka.common.utils;
+
+import static org.junit.Assert.assertEquals;
+import static org.junit.Assert.assertThrows;
+import static org.junit.Assert.assertTrue;
+
+import java.util.Arrays;
+import java.util.Collections;
+
+import org.junit.Test;
+
+public class CircularIteratorTest {
+
+    @Test
+    public void testNullCollection() {
+        assertThrows(NullPointerException.class, () -> new CircularIterator<>(null));
+    }
+
+    @Test
+    public void testEmptyCollection() {
+        assertThrows(IllegalArgumentException.class, () -> new CircularIterator<>(Collections.emptyList()));
+    }
+
+    @Test()
+    public void testCycleCollection() {
+        final CircularIterator<String> it = new CircularIterator<>(Arrays.asList("A", "B", null, "C"));
+
+        assertEquals("A", it.peek());
+        assertTrue(it.hasNext());
+        assertEquals("A", it.next());
+        assertEquals("B", it.peek());
+        assertTrue(it.hasNext());
+        assertEquals("B", it.next());
+        assertEquals(null, it.peek());
+        assertTrue(it.hasNext());
+        assertEquals(null, it.next());
+        assertEquals("C", it.peek());
+        assertTrue(it.hasNext());
+        assertEquals("C", it.next());
+        assertEquals("A", it.peek());
+        assertTrue(it.hasNext());
+        assertEquals("A", it.next());
+        assertEquals("B", it.peek());
+
+        // Check that peek does not have any side-effects
+        assertEquals("B", it.peek());
+    }
+
+}