diff --git a/xds/third_party/udpa/import.sh b/xds/third_party/udpa/import.sh
index 044df40d9c..b96e4ea6da 100755
--- a/xds/third_party/udpa/import.sh
+++ b/xds/third_party/udpa/import.sh
@@ -16,7 +16,7 @@
 # Update VERSION then in this directory run ./import.sh
 
 set -e
-BRANCH=master
+BRANCH=main
 # import VERSION from one of the google internal CLs
 VERSION=5459f2c994033b0afed7e4a70ac7e90c90c1ffee
 GIT_REPO="https://github.com/cncf/udpa.git"
@@ -32,6 +32,7 @@ udpa/annotations/status.proto
 udpa/annotations/versioning.proto
 udpa/data/orca/v1/orca_load_report.proto
 udpa/service/orca/v1/orca.proto
+udpa/type/v1/typed_struct.proto
 xds/core/v3/authority.proto
 xds/core/v3/collection_entry.proto
 xds/core/v3/context_params.proto
diff --git a/xds/third_party/udpa/src/main/proto/udpa/type/v1/typed_struct.proto b/xds/third_party/udpa/src/main/proto/udpa/type/v1/typed_struct.proto
new file mode 100644
index 0000000000..e46a2cb575
--- /dev/null
+++ b/xds/third_party/udpa/src/main/proto/udpa/type/v1/typed_struct.proto
@@ -0,0 +1,42 @@
+syntax = "proto3";
+
+package udpa.type.v1;
+
+option java_outer_classname = "TypedStructProto";
+option java_multiple_files = true;
+option java_package = "com.github.udpa.udpa.type.v1";
+
+import "validate/validate.proto";
+import "google/protobuf/struct.proto";
+
+// A TypedStruct contains an arbitrary JSON serialized protocol buffer message with a URL that
+// describes the type of the serialized message. This is very similar to google.protobuf.Any,
+// instead of having protocol buffer binary, this employs google.protobuf.Struct as value.
+//
+// This message is intended to be embedded inside Any, so it shouldn't be directly referred
+// from other UDPA messages.
+//
+// When packing an opaque extension config, packing the expected type into Any is preferred
+// wherever possible for its efficiency. TypedStruct should be used only if a proto descriptor
+// is not available, for example if:
+// - A control plane sends opaque message that is originally from external source in human readable
+//   format such as JSON or YAML.
+// - The control plane doesn't have the knowledge of the protocol buffer schema hence it cannot
+//   serialize the message in protocol buffer binary format.
+// - The DPLB doesn't have have the knowledge of the protocol buffer schema its plugin or extension
+//   uses. This has to be indicated in the DPLB capability negotiation.
+//
+// When a DPLB receives a TypedStruct in Any, it should:
+// - Check if the type_url of the TypedStruct matches the type the extension expects.
+// - Convert value to the type described in type_url and perform validation.
+// TODO(lizan): Figure out how TypeStruct should be used with DPLB extensions that doesn't link
+// protobuf descriptor with DPLB itself, (e.g. gRPC LB Plugin, Envoy WASM extensions).
+message TypedStruct {
+  // A URL that uniquely identifies the type of the serialize protocol buffer message.
+  // This has same semantics and format described in google.protobuf.Any:
+  // https://github.com/protocolbuffers/protobuf/blob/master/src/google/protobuf/any.proto
+  string type_url = 1;
+
+  // A JSON representation of the above specified type.
+  google.protobuf.Struct value = 2;
+}