diff --git a/.gitmodules b/.gitmodules
index af800e888ba..e93885fd04c 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -72,6 +72,10 @@
 	path = src/lib/heatshrink/heatshrink
 	url = https://github.com/PX4/heatshrink.git
 	branch = px4
+[submodule "src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client-v3"]
+	path = src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client-v3
+	url = https://github.com/PX4/Micro-XRCE-DDS-Client.git
+	branch = px4-release/3
 [submodule "Tools/simulation/gz"]
 	path = Tools/simulation/gz
 	url = https://github.com/PX4/PX4-gazebo-models.git
diff --git a/src/modules/uxrce_dds_client/CMakeLists.txt b/src/modules/uxrce_dds_client/CMakeLists.txt
index fba4ca45cf4..fdc9f9ff5ee 100644
--- a/src/modules/uxrce_dds_client/CMakeLists.txt
+++ b/src/modules/uxrce_dds_client/CMakeLists.txt
@@ -35,8 +35,12 @@ if(${CMAKE_VERSION} VERSION_LESS_EQUAL "3.15")
 	message(WARNING "skipping uxrce_dds_client, Micro-XRCE-DDS-Client needs to be fixed to work with CMAKE_VERSION ${CMAKE_VERSION}")
 
 else()
-
-	set(microxrceddsclient_src_dir   ${CMAKE_CURRENT_SOURCE_DIR}/Micro-XRCE-DDS-Client)
+	if(CONFIG_UXRCE_DDS_CLIENT_USE_DDS_V3)
+		message(WARNING "Using Micro-XRCE-DDS-Client v3 for uxrce_dds_client module")
+		set(microxrceddsclient_src_dir   ${CMAKE_CURRENT_SOURCE_DIR}/Micro-XRCE-DDS-Client-v3)
+	else()
+		set(microxrceddsclient_src_dir   ${CMAKE_CURRENT_SOURCE_DIR}/Micro-XRCE-DDS-Client)
+	endif()
 	set(microxrceddsclient_build_dir ${CMAKE_CURRENT_BINARY_DIR})
 
 	px4_add_git_submodule(TARGET git_micro_xrce_dds_client PATH "${microxrceddsclient_src_dir}")
diff --git a/src/modules/uxrce_dds_client/Kconfig b/src/modules/uxrce_dds_client/Kconfig
index 6573e0cc0b8..5806c94516c 100644
--- a/src/modules/uxrce_dds_client/Kconfig
+++ b/src/modules/uxrce_dds_client/Kconfig
@@ -3,3 +3,10 @@ menuconfig MODULES_UXRCE_DDS_CLIENT
 	default n
 	---help---
 		Enable support for the UXRCE-DDS Client
+
+menuconfig UXRCE_DDS_CLIENT_USE_DDS_V3
+depends on MODULES_UXRCE_DDS_CLIENT
+	bool "use DDS v3"
+	default n
+	---help---
+		Enable support for Micro-XRCE-DDS-Client version 3.
diff --git a/src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client-v3 b/src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client-v3
new file mode 160000
index 00000000000..c88fb537e89
--- /dev/null
+++ b/src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client-v3
@@ -0,0 +1 @@
+Subproject commit c88fb537e89a1095c49a6a535a55378d4c14cf2c