Typically, you handle this kind of failover using DNS. You could put yet another HAProxy in front of the other ones but at some point, you'd recurse into the problem instead of solving it.
When using Redis Sentinel, you have typically three Sentinel nodes that act as HA topology registry. There's no need to put HA proxies instead of sentinel nodes as they are HA by running multiple instances.
If a Redis node goes down, then Lettuce contacts the sentinel nodes to determine which node is a master. Then, Lettuce re-establishes the connection to the active master node.
Does this help?
Cheers,
Mark