diff --git a/envoy/extensions/filters/udp/udp_proxy/v3/BUILD b/envoy/extensions/filters/udp/udp_proxy/v3/BUILD
index 25c7a9c3..375c78d2 100644
--- a/envoy/extensions/filters/udp/udp_proxy/v3/BUILD
+++ b/envoy/extensions/filters/udp/udp_proxy/v3/BUILD
@@ -6,8 +6,11 @@ licenses(["notice"])  # Apache 2
 
 api_proto_package(
     deps = [
+        "//envoy/annotations:pkg",
         "//envoy/config/accesslog/v3:pkg",
         "//envoy/config/core/v3:pkg",
         "@com_github_cncf_udpa//udpa/annotations:pkg",
+        "@com_github_cncf_udpa//xds/annotations/v3:pkg",
+        "@com_github_cncf_udpa//xds/type/matcher/v3:pkg",
     ],
 )
diff --git a/envoy/extensions/filters/udp/udp_proxy/v3/route.proto b/envoy/extensions/filters/udp/udp_proxy/v3/route.proto
new file mode 100644
index 00000000..8d8fcf59
--- /dev/null
+++ b/envoy/extensions/filters/udp/udp_proxy/v3/route.proto
@@ -0,0 +1,20 @@
+syntax = "proto3";
+
+package envoy.extensions.filters.udp.udp_proxy.v3;
+
+import "udpa/annotations/status.proto";
+import "validate/validate.proto";
+
+option java_package = "io.envoyproxy.envoy.extensions.filters.udp.udp_proxy.v3";
+option java_outer_classname = "RouteProto";
+option java_multiple_files = true;
+option go_package = "github.com/envoyproxy/go-control-plane/envoy/extensions/filters/udp/udp_proxy/v3;udp_proxyv3";
+option (udpa.annotations.file_status).package_version_status = ACTIVE;
+
+// [#protodoc-title: UDP proxy route configuration]
+// UDP proxy :ref:`configuration overview <config_udp_listener_filters_udp_proxy>`.
+
+message Route {
+  // Indicates the upstream cluster to which the request should be routed.
+  string cluster = 1 [(validate.rules).string = {min_len: 1}];
+}
diff --git a/envoy/extensions/filters/udp/udp_proxy/v3/udp_proxy.proto b/envoy/extensions/filters/udp/udp_proxy/v3/udp_proxy.proto
index e2ef68e2..a907fd4a 100644
--- a/envoy/extensions/filters/udp/udp_proxy/v3/udp_proxy.proto
+++ b/envoy/extensions/filters/udp/udp_proxy/v3/udp_proxy.proto
@@ -7,6 +7,10 @@ import "envoy/config/core/v3/udp_socket_config.proto";
 
 import "google/protobuf/duration.proto";
 
+import "xds/annotations/v3/status.proto";
+import "xds/type/matcher/v3/matcher.proto";
+
+import "envoy/annotations/deprecation.proto";
 import "udpa/annotations/status.proto";
 import "udpa/annotations/versioning.proto";
 import "validate/validate.proto";
@@ -22,7 +26,7 @@ option (udpa.annotations.file_status).package_version_status = ACTIVE;
 // [#extension: envoy.filters.udp_listener.udp_proxy]
 
 // Configuration for the UDP proxy filter.
-// [#next-free-field: 9]
+// [#next-free-field: 10]
 message UdpProxyConfig {
   option (udpa.annotations.versioning).previous_message_type =
       "envoy.config.filter.udp.udp_proxy.v2alpha.UdpProxyConfig";
@@ -52,7 +56,18 @@ message UdpProxyConfig {
     option (validate.required) = true;
 
     // The upstream cluster to connect to.
-    string cluster = 2 [(validate.rules).string = {min_len: 1}];
+    // This field is deprecated in favor of
+    // :ref:`matcher <envoy_v3_api_field_extensions.filters.udp.udp_proxy.v3.UdpProxyConfig.matcher>`.
+    string cluster = 2 [
+      deprecated = true,
+      (validate.rules).string = {min_len: 1},
+      (envoy.annotations.deprecated_at_minor_version) = "3.0"
+    ];
+
+    // The match tree to use when resolving route actions for incoming requests.
+    // See :ref:`Routing <config_udp_listener_filters_udp_proxy_routing>` for more information.
+    xds.type.matcher.v3.Matcher matcher = 9
+        [(xds.annotations.v3.field_status).work_in_progress = true];
   }
 
   // The idle timeout for sessions. Idle is defined as no datagrams between received or sent by