diff --git a/core/pom.xml b/core/pom.xml
index b0f68880f1d8a..14b217d7fb22e 100644
--- a/core/pom.xml
+++ b/core/pom.xml
@@ -334,7 +334,7 @@
     </dependency>
     <dependency>
       <groupId>org.seleniumhq.selenium</groupId>
-      <artifactId>selenium-htmlunit-driver</artifactId>
+      <artifactId>htmlunit-driver</artifactId>
       <scope>test</scope>
     </dependency>
     <!-- Coerce sbt into honoring these dependency updates: -->
diff --git a/core/src/main/scala/org/apache/spark/ui/JettyUtils.scala b/core/src/main/scala/org/apache/spark/ui/JettyUtils.scala
index 4b4788f453243..f1962ef39fc06 100644
--- a/core/src/main/scala/org/apache/spark/ui/JettyUtils.scala
+++ b/core/src/main/scala/org/apache/spark/ui/JettyUtils.scala
@@ -23,6 +23,7 @@ import javax.servlet.DispatcherType
 import javax.servlet.http._
 
 import scala.language.implicitConversions
+import scala.util.Try
 import scala.xml.Node
 
 import org.eclipse.jetty.client.HttpClient
@@ -500,7 +501,11 @@ private[spark] case class ServerInfo(
     threadPool match {
       case pool: QueuedThreadPool =>
         // Workaround for SPARK-30385 to avoid Jetty's acceptor thread shrink.
-        pool.setIdleTimeout(0)
+        // As of Jetty 9.4.21, the implementation of
+        // QueuedThreadPool#setIdleTimeout is changed and IllegalStateException
+        // will be thrown if we try to set idle timeout after the server has started.
+        // But this workaround works for Jetty 9.4.28 by ignoring the exception.
+        Try(pool.setIdleTimeout(0))
       case _ =>
     }
     server.stop()
diff --git a/core/src/test/scala/org/apache/spark/ui/UISeleniumSuite.scala b/core/src/test/scala/org/apache/spark/ui/UISeleniumSuite.scala
index 909056eab8c5a..ecfdf481f4f6c 100644
--- a/core/src/test/scala/org/apache/spark/ui/UISeleniumSuite.scala
+++ b/core/src/test/scala/org/apache/spark/ui/UISeleniumSuite.scala
@@ -24,6 +24,7 @@ import javax.servlet.http.{HttpServletRequest, HttpServletResponse}
 import scala.io.Source
 import scala.xml.Node
 
+import com.gargoylesoftware.css.parser.CSSParseException
 import com.gargoylesoftware.htmlunit.DefaultCssErrorHandler
 import org.json4s._
 import org.json4s.jackson.JsonMethods
@@ -33,7 +34,6 @@ import org.scalatest._
 import org.scalatest.concurrent.Eventually._
 import org.scalatest.time.SpanSugar._
 import org.scalatestplus.selenium.WebBrowser
-import org.w3c.css.sac.CSSParseException
 
 import org.apache.spark._
 import org.apache.spark.LocalSparkContext._
diff --git a/pom.xml b/pom.xml
index 6620673a7e5fc..6667b56d27fe7 100644
--- a/pom.xml
+++ b/pom.xml
@@ -139,7 +139,7 @@
     <orc.classifier></orc.classifier>
     <hive.parquet.group>com.twitter</hive.parquet.group>
     <hive.parquet.version>1.6.0</hive.parquet.version>
-    <jetty.version>9.4.18.v20190429</jetty.version>
+    <jetty.version>9.4.28.v20200408</jetty.version>
     <javaxservlet.version>3.1.0</javaxservlet.version>
     <chill.version>0.9.5</chill.version>
     <ivy.version>2.4.0</ivy.version>
@@ -187,8 +187,8 @@
     <libthrift.version>0.12.0</libthrift.version>
     <antlr4.version>4.7.1</antlr4.version>
     <jpam.version>1.1</jpam.version>
-    <selenium.version>2.52.0</selenium.version>
-    <htmlunit.version>2.22</htmlunit.version>
+    <selenium.version>3.141.59</selenium.version>
+    <htmlunit.version>2.40.0</htmlunit.version>
     <!--
     Managed up from older version from Avro; sync with jackson-module-paranamer dependency version
     -->
@@ -588,12 +588,16 @@
             <groupId>io.netty</groupId>
             <artifactId>netty</artifactId>
           </exclusion>
+          <exclusion>
+            <groupId>net.bytebuddy</groupId>
+            <artifactId>byte-buddy</artifactId>
+          </exclusion>
         </exclusions>
       </dependency>
       <dependency>
         <groupId>org.seleniumhq.selenium</groupId>
-        <artifactId>selenium-htmlunit-driver</artifactId>
-        <version>${selenium.version}</version>
+        <artifactId>htmlunit-driver</artifactId>
+        <version>${htmlunit.version}</version>
         <scope>test</scope>
       </dependency>
       <!-- Update htmlunit dependency that selenium uses for better JS support -->
diff --git a/sql/core/pom.xml b/sql/core/pom.xml
index 7c5fcba9c2131..e4ef1467a960e 100644
--- a/sql/core/pom.xml
+++ b/sql/core/pom.xml
@@ -162,7 +162,7 @@
     </dependency>
     <dependency>
       <groupId>org.seleniumhq.selenium</groupId>
-      <artifactId>selenium-htmlunit-driver</artifactId>
+      <artifactId>htmlunit-driver</artifactId>
       <scope>test</scope>
     </dependency>
   </dependencies>
diff --git a/sql/hive-thriftserver/pom.xml b/sql/hive-thriftserver/pom.xml
index 1de2677d5ede5..5bf20b209aff7 100644
--- a/sql/hive-thriftserver/pom.xml
+++ b/sql/hive-thriftserver/pom.xml
@@ -95,7 +95,7 @@
     </dependency>
     <dependency>
       <groupId>org.seleniumhq.selenium</groupId>
-      <artifactId>selenium-htmlunit-driver</artifactId>
+      <artifactId>htmlunit-driver</artifactId>
       <scope>test</scope>
     </dependency>
     <dependency>
diff --git a/streaming/pom.xml b/streaming/pom.xml
index ea351d449481a..53b49dd320e94 100644
--- a/streaming/pom.xml
+++ b/streaming/pom.xml
@@ -109,7 +109,7 @@
     </dependency>
     <dependency>
       <groupId>org.seleniumhq.selenium</groupId>
-      <artifactId>selenium-htmlunit-driver</artifactId>
+      <artifactId>htmlunit-driver</artifactId>
       <scope>test</scope>
     </dependency>
     <dependency>