diff --git a/.gitmodules b/.gitmodules
index 525328b71596..e55966f0849e 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -100,3 +100,6 @@
 [submodule "src/lib/secure_udp"]
 	path = src/lib/secure_udp
 	url = git@github.com:tiiuae/px4-lib-secure-udp.git
+[submodule "src/modules/secure_udp_proxy"]
+	path = src/modules/secure_udp_proxy
+	url = git@github.com:tiiuae/secure-udp-proxy.git
diff --git a/clone_public.sh b/clone_public.sh
index 447382303a97..5df67e359fe6 100755
--- a/clone_public.sh
+++ b/clone_public.sh
@@ -11,6 +11,7 @@ do
   [[ "${repo}" == *pf_crypto ]] || \
   [[ "${repo}" == *px4_fw_update_client ]] || \
   [[ "${repo}" == *secure_udp ]] || \
+  [[ "${repo}" == *secure_udp_proxy ]] || \
   [[ "${repo}" == *process ]] && continue
   git submodule update --init --recursive "${repo}"
 done <<< "$(git submodule status | awk '{print $2}')"
diff --git a/src/modules/secure_udp_proxy b/src/modules/secure_udp_proxy
new file mode 160000
index 000000000000..d4e8073c3583
--- /dev/null
+++ b/src/modules/secure_udp_proxy
@@ -0,0 +1 @@
+Subproject commit d4e8073c358386a211a78d91547df3306c6b15fc