diff --git a/pkg/distsql/select_result.go b/pkg/distsql/select_result.go
index e21b556b43f93..cb1b187da06c6 100644
--- a/pkg/distsql/select_result.go
+++ b/pkg/distsql/select_result.go
@@ -386,6 +386,9 @@ func (r *selectResult) Next(ctx context.Context, chk *chunk.Chunk) error {
 		if r.selectResp == nil {
 			return nil
 		}
+		failpoint.Inject("mockConsumeSelectRespSlow", func(val failpoint.Value) {
+			time.Sleep(time.Duration(val.(int) * int(time.Millisecond)))
+		})
 	}
 	// TODO(Shenghui Wu): add metrics
 	encodeType := r.selectResp.GetEncodeType()
diff --git a/pkg/store/copr/copr_test/BUILD.bazel b/pkg/store/copr/copr_test/BUILD.bazel
index 0903eec3f3c74..aa9ba312622e3 100644
--- a/pkg/store/copr/copr_test/BUILD.bazel
+++ b/pkg/store/copr/copr_test/BUILD.bazel
@@ -8,7 +8,7 @@ go_test(
         "main_test.go",
     ],
     flaky = True,
-    shard_count = 4,
+    shard_count = 5,
     deps = [
         "//pkg/config",
         "//pkg/kv",
diff --git a/pkg/store/copr/copr_test/coprocessor_test.go b/pkg/store/copr/copr_test/coprocessor_test.go
index 9b40a77d9ceef..5a9a005704c06 100644
--- a/pkg/store/copr/copr_test/coprocessor_test.go
+++ b/pkg/store/copr/copr_test/coprocessor_test.go
@@ -323,3 +323,30 @@ func TestQueryWithConcurrentSmallCop(t *testing.T) {
 	require.Less(t, time.Since(start), time.Millisecond*150)
 	require.NoError(t, failpoint.Disable("github.com/pingcap/tidb/pkg/store/mockstore/unistore/unistoreRPCSlowCop"))
 }
+
+func TestDMLWithLiteCopWorker(t *testing.T) {
+	store := testkit.CreateMockStore(t)
+	tk := testkit.NewTestKit(t, store)
+	tk.MustExec("use test")
+	tk.MustExec("create table t1 (id bigint auto_increment key, b int);")
+	tk.MustExec("insert into t1 (b) values (1),(2),(3),(4),(5),(6),(7),(8);")
+	for i := 0; i < 8; i++ {
+		tk.MustExec("insert into t1 (b) select b from t1;")
+	}
+	tk.MustQuery("select count(*) from t1").Check(testkit.Rows("2048"))
+	tk.MustQuery("split table t1 by (1025);").Check(testkit.Rows("1 1"))
+	tk.MustExec("set @@tidb_enable_paging = off")
+	require.NoError(t, failpoint.Enable("github.com/pingcap/tidb/pkg/store/mockstore/unistore/unistoreRPCSlowCop", `return(200)`))
+	require.NoError(t, failpoint.Enable("github.com/pingcap/tidb/pkg/distsql/mockConsumeSelectRespSlow", `return(100)`))
+	start := time.Now()
+	tk.MustExec("update t1 set b=b+1 where id >= 0;")
+	require.Less(t, time.Since(start), time.Millisecond*800) // 3 * 200ms + 1 * 100ms
+	require.NoError(t, failpoint.Disable("github.com/pingcap/tidb/pkg/store/mockstore/unistore/unistoreRPCSlowCop"))
+	require.NoError(t, failpoint.Disable("github.com/pingcap/tidb/pkg/distsql/mockConsumeSelectRespSlow"))
+
+	// Test select after split table.
+	tk.MustExec("truncate table t1;")
+	tk.MustExec("insert into t1 (b) values (1),(2),(3),(4),(5),(6),(7),(8);")
+	tk.MustQuery("split table t1 by (3), (6), (9);").Check(testkit.Rows("3 1"))
+	tk.MustQuery("select b from t1 order by id").Check(testkit.Rows("1", "2", "3", "4", "5", "6", "7", "8"))
+}
diff --git a/pkg/store/copr/coprocessor.go b/pkg/store/copr/coprocessor.go
index ebb4a9ca892b5..4796d6822d730 100644
--- a/pkg/store/copr/coprocessor.go
+++ b/pkg/store/copr/coprocessor.go
@@ -1110,10 +1110,18 @@ func (it *copIterator) Next(ctx context.Context) (kv.ResultSubset, error) {
 	failpoint.InjectCall("CtxCancelBeforeReceive", ctx)
 	if it.liteWorker != nil {
 		resp = it.liteWorker.liteSendReq(ctx, it)
+		// after lite handle 1 task, reset tryCopLiteWorker to 0 to make future request can reuse copLiteWorker.
+		it.liteWorker.tryCopLiteWorker.CompareAndSwap(1, 0)
 		if resp == nil {
 			it.actionOnExceed.close()
 			return nil, nil
 		}
+		if len(it.tasks) > 0 && len(it.liteWorker.batchCopRespList) == 0 && resp.err == nil {
+			// if there are remain tasks to be processed, we need to run worker concurrently to avoid blocking.
+			// see more detail in https://github.com/pingcap/tidb/issues/58658 and TestDMLWithLiteCopWorker.
+			it.liteWorker.runWorkerConcurrently(it)
+			it.liteWorker = nil
+		}
 		it.actionOnExceed.destroyTokenIfNeeded(func() {})
 		memTrackerConsumeResp(it.memTracker, resp)
 	} else if it.respChan != nil {
@@ -1198,10 +1206,6 @@ func (w *liteCopIteratorWorker) liteSendReq(ctx context.Context, it *copIterator
 		} else {
 			it.tasks = it.tasks[1:]
 		}
-		if len(it.tasks) == 0 {
-			// if all tasks are finished, reset tryCopLiteWorker to 0 to make future request can reuse copLiteWorker.
-			w.tryCopLiteWorker.Store(0)
-		}
 		if result != nil {
 			if result.resp != nil {
 				w.batchCopRespList = result.batchRespList
@@ -1217,6 +1221,34 @@ func (w *liteCopIteratorWorker) liteSendReq(ctx context.Context, it *copIterator
 	return nil
 }
 
+func (w *liteCopIteratorWorker) runWorkerConcurrently(it *copIterator) {
+	taskCh := make(chan *copTask, 1)
+	worker := w.worker
+	worker.taskCh = taskCh
+	it.wg.Add(1)
+	go worker.run(w.ctx)
+
+	if it.respChan == nil {
+		// If it.respChan is nil, we will read the response from task.respChan,
+		// but task.respChan maybe nil when rebuilding cop task, so we need to create respChan for the task.
+		for i := range it.tasks {
+			if it.tasks[i].respChan == nil {
+				it.tasks[i].respChan = make(chan *copResponse, 2)
+			}
+		}
+	}
+
+	taskSender := &copIteratorTaskSender{
+		taskCh:   taskCh,
+		wg:       &it.wg,
+		tasks:    it.tasks,
+		finishCh: it.finishCh,
+		sendRate: it.sendRate,
+		respChan: it.respChan,
+	}
+	go taskSender.run(it.req.ConnID, it.req.RunawayChecker)
+}
+
 // HasUnconsumedCopRuntimeStats indicate whether has unconsumed CopRuntimeStats.
 type HasUnconsumedCopRuntimeStats interface {
 	// CollectUnconsumedCopRuntimeStats returns unconsumed CopRuntimeStats.