diff --git a/src/backend/distributed/executor/multi_server_executor.c b/src/backend/distributed/executor/multi_server_executor.c
index 1f143778d..761d11fcc 100644
--- a/src/backend/distributed/executor/multi_server_executor.c
+++ b/src/backend/distributed/executor/multi_server_executor.c
@@ -31,6 +31,9 @@ int TaskExecutorType = MULTI_EXECUTOR_REAL_TIME; /* distributed executor type */
 bool BinaryMasterCopyFormat = false; /* copy data from workers in binary format */
 
 
+static bool IsRoutableQuery(MultiPlan *multiPlan);
+
+
 /*
  * JobExecutorType selects the executor type for the given multiPlan using the task
  * executor type config value. The function then checks if the given multiPlan needs
@@ -63,6 +66,22 @@ JobExecutorType(MultiPlan *multiPlan)
 		}
 	}
 
+	if (executorType == MULTI_EXECUTOR_DYNAMIC)
+	{
+		if (dependedJobCount > 0)
+		{
+			executorType = MULTI_EXECUTOR_TASK_TRACKER;
+		}
+		else if (IsRoutableQuery(multiPlan))
+		{
+			executorType = MULTI_EXECUTOR_ROUTER;
+		}
+		else
+		{
+			executorType = MULTI_EXECUTOR_REAL_TIME;
+		}
+	}
+
 	if (executorType == MULTI_EXECUTOR_REAL_TIME)
 	{
 		double reasonableConnectionCount = 0;
@@ -167,6 +186,60 @@ JobExecutorType(MultiPlan *multiPlan)
 }
 
 
+/*
+ * IsRoutableQuery returns whether a multi-plan can be executed using the
+ * router executor.
+ */
+static bool
+IsRoutableQuery(MultiPlan *multiPlan)
+{
+	Job *job = multiPlan->workerJob;
+	Query *masterQuery = multiPlan->masterQuery;
+	List *workerTaskList = job->taskList;
+	int taskCount = list_length(workerTaskList);
+	int dependedJobCount = list_length(job->dependedJobList);
+
+	Task *workerTask = NULL;
+	List *workerDependentTaskList = NIL;
+	bool masterQueryHasAggregates = false;
+
+	/* router executor cannot execute repartition jobs */
+	if (dependedJobCount > 0)
+	{
+		return false;
+	}
+
+	/* router executor cannot execute queries that hit more than one shard */
+	if (taskCount != 1)
+	{
+		return false;
+	}
+
+	/* router executor cannot execute queries with dependent data fetch tasks */
+	workerTask = list_nth(workerTaskList, 0);
+	workerDependentTaskList = workerTask->dependedTaskList;
+	if (list_length(workerDependentTaskList) > 0)
+	{
+		return false;
+	}
+
+	/* router executor cannot execute queries with order by */
+	if (masterQuery != NULL && list_length(masterQuery->sortClause) > 0)
+	{
+		return false;
+	}
+
+	/* router executor cannot execute queries with aggregates */
+	masterQueryHasAggregates = job->jobQuery->hasAggs;
+	if (masterQueryHasAggregates)
+	{
+		return false;
+	}
+
+	return true;
+}
+
+
 /*
  * MaxMasterConnectionCount returns the number of connections a master can open.
  * A master cannot create more than a certain number of file descriptors (FDs).
diff --git a/src/backend/distributed/shared_library_init.c b/src/backend/distributed/shared_library_init.c
index 344665eb0..724bdba9d 100644
--- a/src/backend/distributed/shared_library_init.c
+++ b/src/backend/distributed/shared_library_init.c
@@ -58,6 +58,7 @@ static const struct config_enum_entry task_executor_type_options[] = {
 	{"real-time", MULTI_EXECUTOR_REAL_TIME, false},
 	{"task-tracker", MULTI_EXECUTOR_TASK_TRACKER, false},
 	{"router", MULTI_EXECUTOR_ROUTER, false},
+	{"dynamic", MULTI_EXECUTOR_DYNAMIC, false},
 	{NULL, 0, false}
 };
 
@@ -463,7 +464,8 @@ RegisterCitusConfigVariables(void)
 					 "aggregations and/or co-located joins on multiple shards. The "
 					 "task-tracker executor is optimal for long-running, complex "
 					 "queries that touch thousands of shards and/or that involve "
-					 "table repartitioning."),
+					 "table repartitioning. The dynamic executor automatically "
+					 "chooses between them."),
 		&TaskExecutorType,
 		MULTI_EXECUTOR_REAL_TIME,
 		task_executor_type_options,
diff --git a/src/include/distributed/multi_server_executor.h b/src/include/distributed/multi_server_executor.h
index 83105cc54..c070ded68 100644
--- a/src/include/distributed/multi_server_executor.h
+++ b/src/include/distributed/multi_server_executor.h
@@ -96,7 +96,8 @@ typedef enum
 	MULTI_EXECUTOR_INVALID_FIRST = 0,
 	MULTI_EXECUTOR_REAL_TIME = 1,
 	MULTI_EXECUTOR_TASK_TRACKER = 2,
-	MULTI_EXECUTOR_ROUTER = 3
+	MULTI_EXECUTOR_ROUTER = 3,
+	MULTI_EXECUTOR_DYNAMIC = 4
 
 } MultiExecutorType;
 
diff --git a/src/test/regress/expected/multi_dynamic_executor.out b/src/test/regress/expected/multi_dynamic_executor.out
new file mode 100644
index 000000000..9b9f804b7
--- /dev/null
+++ b/src/test/regress/expected/multi_dynamic_executor.out
@@ -0,0 +1,45 @@
+--
+-- MULTI_DYNAMIC_EXECUTOR
+--
+-- Run different types of queries using the dynamic executor.
+SET citusdb.large_table_shard_count TO 2;
+SET citusdb.task_executor_type TO 'dynamic';
+-- Should be able to run regular queries with dynamic executor
+SELECT
+	count(*)
+FROM
+	orders;
+ count 
+-------
+  2984
+(1 row)
+
+-- Should be able to run re-partition queries with dynamic executor
+SELECT
+	o_orderkey, count(*)
+FROM
+	orders, customer
+WHERE
+	c_custkey = o_custkey
+GROUP BY
+	o_orderkey
+ORDER BY
+	o_orderkey
+LIMIT 1;
+ o_orderkey | count 
+------------+-------
+          1 |     1
+(1 row)
+
+-- Should be able to run router queries with dynamic executor
+SELECT
+	o_orderkey
+FROM
+	orders
+WHERE
+	o_orderkey = 1;
+ o_orderkey 
+------------
+          1
+(1 row)
+
diff --git a/src/test/regress/multi_schedule b/src/test/regress/multi_schedule
index 39ea82a34..e44fe80fb 100644
--- a/src/test/regress/multi_schedule
+++ b/src/test/regress/multi_schedule
@@ -118,6 +118,7 @@ test: multi_simple_queries
 test: multi_utilities
 test: multi_create_insert_proxy
 test: multi_data_types
+test: multi_dynamic_executor
 
 # ----------
 # multi_large_shardid stages more shards into lineitem
diff --git a/src/test/regress/sql/multi_dynamic_executor.sql b/src/test/regress/sql/multi_dynamic_executor.sql
new file mode 100644
index 000000000..403e4c670
--- /dev/null
+++ b/src/test/regress/sql/multi_dynamic_executor.sql
@@ -0,0 +1,34 @@
+--
+-- MULTI_DYNAMIC_EXECUTOR
+--
+-- Run different types of queries using the dynamic executor.
+
+SET citusdb.large_table_shard_count TO 2;
+SET citusdb.task_executor_type TO 'dynamic';
+
+-- Should be able to run regular queries with dynamic executor
+SELECT
+	count(*)
+FROM
+	orders;
+
+-- Should be able to run re-partition queries with dynamic executor
+SELECT
+	o_orderkey, count(*)
+FROM
+	orders, customer
+WHERE
+	c_custkey = o_custkey
+GROUP BY
+	o_orderkey
+ORDER BY
+	o_orderkey
+LIMIT 1;
+
+-- Should be able to run router queries with dynamic executor
+SELECT
+	o_orderkey
+FROM
+	orders
+WHERE
+	o_orderkey = 1;