diff --git a/dockers/docker-dhcp-relay/docker-dhcp-relay.supervisord.conf.j2 b/dockers/docker-dhcp-relay/docker-dhcp-relay.supervisord.conf.j2
index d524004807..97de4f3604 100644
--- a/dockers/docker-dhcp-relay/docker-dhcp-relay.supervisord.conf.j2
+++ b/dockers/docker-dhcp-relay/docker-dhcp-relay.supervisord.conf.j2
@@ -3,27 +3,39 @@ logfile_maxbytes=1MB
 logfile_backups=2
 nodaemon=true
 
+[eventlistener:dependent-startup]
+command=python -m supervisord_dependent_startup
+autostart=true
+autorestart=unexpected
+startretries=0
+exitcodes=0,3
+events=PROCESS_STATE
+
 [eventlistener:supervisor-proc-exit-listener]
 command=/usr/bin/supervisor-proc-exit-listener --container-name dhcp_relay
 events=PROCESS_STATE_EXITED
 autostart=true
 autorestart=unexpected
 
-[program:start.sh]
-command=/usr/bin/start.sh
-priority=1
-autostart=true
-autorestart=false
-stdout_logfile=syslog
-stderr_logfile=syslog
-
 [program:rsyslogd]
-command=/usr/sbin/rsyslogd -n
-priority=2
+command=/usr/sbin/rsyslogd -n -iNONE
+priority=1
 autostart=false
 autorestart=false
 stdout_logfile=syslog
 stderr_logfile=syslog
+dependent_startup=true
+
+[program:start]
+command=/usr/bin/start.sh
+priority=2
+autostart=false
+autorestart=false
+startsecs=0
+stdout_logfile=syslog
+stderr_logfile=syslog
+dependent_startup=true
+dependent_startup_wait_for=rsyslogd:running
 
 {# If our configuration has VLANs... #}
 {% if VLAN %}
@@ -81,6 +93,8 @@ autostart=false
 autorestart=false
 stdout_logfile=syslog
 stderr_logfile=syslog
+dependent_startup=true
+dependent_startup_wait_for=start:exited
 
 {% endif %}
 {% endif %}
@@ -128,6 +142,8 @@ autostart=false
 autorestart=false
 stdout_logfile=syslog
 stderr_logfile=syslog
+dependent_startup=true
+dependent_startup_wait_for=isc-dhcp-relay-{{ vlan_name }}:running
 
 {% endif %}
 {% endif %}
diff --git a/dockers/docker-dhcp-relay/start.sh b/dockers/docker-dhcp-relay/start.sh
index dbbf322510..86ba91147e 100755
--- a/dockers/docker-dhcp-relay/start.sh
+++ b/dockers/docker-dhcp-relay/start.sh
@@ -1,11 +1,5 @@
 #!/usr/bin/env bash
 
-# Remove stale rsyslog PID file if it exists
-rm -f /var/run/rsyslogd.pid
-
-# Start rsyslog
-supervisorctl start rsyslogd
-
 # If our supervisor config has entries in the "isc-dhcp-relay" group...
 if [ $(supervisorctl status | grep -c "^isc-dhcp-relay:") -gt 0 ]; then
     # Wait for all interfaces to come up and be assigned IPv4 addresses before
@@ -15,13 +9,4 @@ if [ $(supervisorctl status | grep -c "^isc-dhcp-relay:") -gt 0 ]; then
     # relay agent starts, it will not listen or send on that interface for the
     # lifetime of the process.
     /usr/bin/wait_for_intf.sh
-
-    # Start all DHCP relay agent(s)
-    supervisorctl start isc-dhcp-relay:*
-fi
-
-# If our supervisor config has entries in the "dhcpmon" group...
-if [ $(supervisorctl status | grep -c "^dhcpmon:") -gt 0 ]; then
-    # Start all DHCP Monitor daemon(s)
-    supervisorctl start dhcpmon:*
 fi
diff --git a/src/sonic-config-engine/tests/sample_output/docker-dhcp-relay.supervisord.conf b/src/sonic-config-engine/tests/sample_output/docker-dhcp-relay.supervisord.conf
index fde1d6c771..6eeba48fe9 100644
--- a/src/sonic-config-engine/tests/sample_output/docker-dhcp-relay.supervisord.conf
+++ b/src/sonic-config-engine/tests/sample_output/docker-dhcp-relay.supervisord.conf
@@ -3,27 +3,39 @@ logfile_maxbytes=1MB
 logfile_backups=2
 nodaemon=true
 
+[eventlistener:dependent-startup]
+command=python -m supervisord_dependent_startup
+autostart=true
+autorestart=unexpected
+startretries=0
+exitcodes=0,3
+events=PROCESS_STATE
+
 [eventlistener:supervisor-proc-exit-listener]
 command=/usr/bin/supervisor-proc-exit-listener --container-name dhcp_relay
 events=PROCESS_STATE_EXITED
 autostart=true
 autorestart=unexpected
 
-[program:start.sh]
-command=/usr/bin/start.sh
-priority=1
-autostart=true
-autorestart=false
-stdout_logfile=syslog
-stderr_logfile=syslog
-
 [program:rsyslogd]
-command=/usr/sbin/rsyslogd -n
-priority=2
+command=/usr/sbin/rsyslogd -n -iNONE
+priority=1
 autostart=false
 autorestart=false
 stdout_logfile=syslog
 stderr_logfile=syslog
+dependent_startup=true
+
+[program:start]
+command=/usr/bin/start.sh
+priority=2
+autostart=false
+autorestart=false
+startsecs=0
+stdout_logfile=syslog
+stderr_logfile=syslog
+dependent_startup=true
+dependent_startup_wait_for=rsyslogd:running
 
 [group:isc-dhcp-relay]
 programs=isc-dhcp-relay-Vlan1000
@@ -35,6 +47,8 @@ autostart=false
 autorestart=false
 stdout_logfile=syslog
 stderr_logfile=syslog
+dependent_startup=true
+dependent_startup_wait_for=start:exited
 
 
 [group:dhcpmon]
@@ -47,6 +61,8 @@ autostart=false
 autorestart=false
 stdout_logfile=syslog
 stderr_logfile=syslog
+dependent_startup=true
+dependent_startup_wait_for=isc-dhcp-relay-Vlan1000:running