diff --git a/drivers/net/ethernet/mellanox/mlx5/core/en_accel/ipsec.c b/drivers/net/ethernet/mellanox/mlx5/core/en_accel/ipsec.c
index 891d39b4bfd4..658b7d8d50c7 100644
--- a/drivers/net/ethernet/mellanox/mlx5/core/en_accel/ipsec.c
+++ b/drivers/net/ethernet/mellanox/mlx5/core/en_accel/ipsec.c
@@ -354,6 +354,12 @@ void mlx5e_ipsec_build_accel_xfrm_attrs(struct mlx5e_ipsec_sa_entry *sa_entry,
 
 	mlx5e_ipsec_init_limits(sa_entry, attrs);
 	mlx5e_ipsec_init_macs(sa_entry, attrs);
+
+	if (x->encap) {
+		attrs->encap = true;
+		attrs->sport = x->encap->encap_sport;
+		attrs->dport = x->encap->encap_dport;
+	}
 }
 
 static int mlx5e_xfrm_validate_state(struct mlx5_core_dev *mdev,
@@ -387,8 +393,25 @@ static int mlx5e_xfrm_validate_state(struct mlx5_core_dev *mdev,
 		return -EINVAL;
 	}
 	if (x->encap) {
-		NL_SET_ERR_MSG_MOD(extack, "Encapsulated xfrm state may not be offloaded");
-		return -EINVAL;
+		if (!(mlx5_ipsec_device_caps(mdev) & MLX5_IPSEC_CAP_ESPINUDP)) {
+			NL_SET_ERR_MSG_MOD(extack, "Encapsulation is not supported");
+			return -EINVAL;
+		}
+
+		if (x->encap->encap_type != UDP_ENCAP_ESPINUDP) {
+			NL_SET_ERR_MSG_MOD(extack, "Encapsulation other than UDP is not supported");
+			return -EINVAL;
+		}
+
+		if (x->xso.type != XFRM_DEV_OFFLOAD_PACKET) {
+			NL_SET_ERR_MSG_MOD(extack, "Encapsulation is supported in packet offload mode only");
+			return -EINVAL;
+		}
+
+		if (x->props.mode != XFRM_MODE_TRANSPORT) {
+			NL_SET_ERR_MSG_MOD(extack, "Encapsulation is supported in transport mode only");
+			return -EINVAL;
+		}
 	}
 	if (!x->aead) {
 		NL_SET_ERR_MSG_MOD(extack, "Cannot offload xfrm states without aead");
diff --git a/drivers/net/ethernet/mellanox/mlx5/core/en_accel/ipsec.h b/drivers/net/ethernet/mellanox/mlx5/core/en_accel/ipsec.h
index 4e9887171508..7a7047263618 100644
--- a/drivers/net/ethernet/mellanox/mlx5/core/en_accel/ipsec.h
+++ b/drivers/net/ethernet/mellanox/mlx5/core/en_accel/ipsec.h
@@ -94,13 +94,20 @@ struct mlx5_accel_esp_xfrm_attrs {
 	u8 dir : 2;
 	u8 type : 2;
 	u8 drop : 1;
+	u8 encap : 1;
 	u8 family;
 	struct mlx5_replay_esn replay_esn;
 	u32 authsize;
 	u32 reqid;
 	struct mlx5_ipsec_lft lft;
-	u8 smac[ETH_ALEN];
-	u8 dmac[ETH_ALEN];
+	union {
+		u8 smac[ETH_ALEN];
+		__be16 sport;
+	};
+	union {
+		u8 dmac[ETH_ALEN];
+		__be16 dport;
+	};
 };
 
 enum mlx5_ipsec_cap {
@@ -110,6 +117,7 @@ enum mlx5_ipsec_cap {
 	MLX5_IPSEC_CAP_ROCE             = 1 << 3,
 	MLX5_IPSEC_CAP_PRIO             = 1 << 4,
 	MLX5_IPSEC_CAP_TUNNEL           = 1 << 5,
+	MLX5_IPSEC_CAP_ESPINUDP         = 1 << 6,
 };
 
 struct mlx5e_priv;
diff --git a/drivers/net/ethernet/mellanox/mlx5/core/en_accel/ipsec_fs.c b/drivers/net/ethernet/mellanox/mlx5/core/en_accel/ipsec_fs.c
index dbe87bf89c0d..47baf983147f 100644
--- a/drivers/net/ethernet/mellanox/mlx5/core/en_accel/ipsec_fs.c
+++ b/drivers/net/ethernet/mellanox/mlx5/core/en_accel/ipsec_fs.c
@@ -951,37 +951,70 @@ free_reformatbf:
 	return -EINVAL;
 }
 
+static int get_reformat_type(struct mlx5_accel_esp_xfrm_attrs *attrs)
+{
+	switch (attrs->dir) {
+	case XFRM_DEV_OFFLOAD_IN:
+		if (attrs->encap)
+			return MLX5_REFORMAT_TYPE_DEL_ESP_TRANSPORT_OVER_UDP;
+		return MLX5_REFORMAT_TYPE_DEL_ESP_TRANSPORT;
+	case XFRM_DEV_OFFLOAD_OUT:
+		if (attrs->family == AF_INET) {
+			if (attrs->encap)
+				return MLX5_REFORMAT_TYPE_ADD_ESP_TRANSPORT_OVER_UDPV4;
+			return MLX5_REFORMAT_TYPE_ADD_ESP_TRANSPORT_OVER_IPV4;
+		}
+
+		if (attrs->encap)
+			return MLX5_REFORMAT_TYPE_ADD_ESP_TRANSPORT_OVER_UDPV6;
+		return MLX5_REFORMAT_TYPE_ADD_ESP_TRANSPORT_OVER_IPV6;
+	default:
+		WARN_ON(true);
+	}
+
+	return -EINVAL;
+}
+
 static int
 setup_pkt_transport_reformat(struct mlx5_accel_esp_xfrm_attrs *attrs,
 			     struct mlx5_pkt_reformat_params *reformat_params)
 {
-	u8 *reformatbf;
+	struct udphdr *udphdr;
+	char *reformatbf;
+	size_t bfflen;
 	__be32 spi;
+	void *hdr;
+
+	reformat_params->type = get_reformat_type(attrs);
+	if (reformat_params->type < 0)
+		return reformat_params->type;
 
 	switch (attrs->dir) {
 	case XFRM_DEV_OFFLOAD_IN:
-		reformat_params->type = MLX5_REFORMAT_TYPE_DEL_ESP_TRANSPORT;
 		break;
 	case XFRM_DEV_OFFLOAD_OUT:
-		if (attrs->family == AF_INET)
-			reformat_params->type =
-				MLX5_REFORMAT_TYPE_ADD_ESP_TRANSPORT_OVER_IPV4;
-		else
-			reformat_params->type =
-				MLX5_REFORMAT_TYPE_ADD_ESP_TRANSPORT_OVER_IPV6;
+		bfflen = MLX5_REFORMAT_TYPE_ADD_ESP_TRANSPORT_SIZE;
+		if (attrs->encap)
+			bfflen += sizeof(*udphdr);
 
-		reformatbf = kzalloc(MLX5_REFORMAT_TYPE_ADD_ESP_TRANSPORT_SIZE,
-				     GFP_KERNEL);
+		reformatbf = kzalloc(bfflen, GFP_KERNEL);
 		if (!reformatbf)
 			return -ENOMEM;
 
+		hdr = reformatbf;
+		if (attrs->encap) {
+			udphdr = (struct udphdr *)reformatbf;
+			udphdr->source = attrs->sport;
+			udphdr->dest = attrs->dport;
+			hdr += sizeof(*udphdr);
+		}
+
 		/* convert to network format */
 		spi = htonl(attrs->spi);
-		memcpy(reformatbf, &spi, sizeof(spi));
+		memcpy(hdr, &spi, sizeof(spi));
 
 		reformat_params->param_0 = attrs->authsize;
-		reformat_params->size =
-			MLX5_REFORMAT_TYPE_ADD_ESP_TRANSPORT_SIZE;
+		reformat_params->size = bfflen;
 		reformat_params->data = reformatbf;
 		break;
 	default:
diff --git a/drivers/net/ethernet/mellanox/mlx5/core/en_accel/ipsec_offload.c b/drivers/net/ethernet/mellanox/mlx5/core/en_accel/ipsec_offload.c
index a3554bde3e07..5ff06263c5bd 100644
--- a/drivers/net/ethernet/mellanox/mlx5/core/en_accel/ipsec_offload.c
+++ b/drivers/net/ethernet/mellanox/mlx5/core/en_accel/ipsec_offload.c
@@ -54,6 +54,12 @@ u32 mlx5_ipsec_device_caps(struct mlx5_core_dev *mdev)
 		    MLX5_CAP_FLOWTABLE_NIC_RX(mdev,
 					      reformat_l3_esp_tunnel_to_l2))
 			caps |= MLX5_IPSEC_CAP_TUNNEL;
+
+		if (MLX5_CAP_FLOWTABLE_NIC_TX(mdev,
+					      reformat_add_esp_transport_over_udp) &&
+		    MLX5_CAP_FLOWTABLE_NIC_RX(mdev,
+					      reformat_del_esp_transport_over_udp))
+			caps |= MLX5_IPSEC_CAP_ESPINUDP;
 	}
 
 	if (mlx5_get_roce_state(mdev) &&
diff --git a/include/linux/mlx5/mlx5_ifc.h b/include/linux/mlx5/mlx5_ifc.h
index 33344a71c3e3..b3ad6b9852ec 100644
--- a/include/linux/mlx5/mlx5_ifc.h
+++ b/include/linux/mlx5/mlx5_ifc.h
@@ -464,10 +464,10 @@ struct mlx5_ifc_flow_table_prop_layout_bits {
 
 	u8         reformat_add_esp_trasport[0x1];
 	u8         reformat_l2_to_l3_esp_tunnel[0x1];
-	u8         reserved_at_42[0x1];
+	u8         reformat_add_esp_transport_over_udp[0x1];
 	u8         reformat_del_esp_trasport[0x1];
 	u8         reformat_l3_esp_tunnel_to_l2[0x1];
-	u8         reserved_at_45[0x1];
+	u8         reformat_del_esp_transport_over_udp[0x1];
 	u8         execute_aso[0x1];
 	u8         reserved_at_47[0x19];
 
@@ -6665,9 +6665,12 @@ enum mlx5_reformat_ctx_type {
 	MLX5_REFORMAT_TYPE_L2_TO_L3_TUNNEL = 0x4,
 	MLX5_REFORMAT_TYPE_ADD_ESP_TRANSPORT_OVER_IPV4 = 0x5,
 	MLX5_REFORMAT_TYPE_L2_TO_L3_ESP_TUNNEL = 0x6,
+	MLX5_REFORMAT_TYPE_ADD_ESP_TRANSPORT_OVER_UDPV4 = 0x7,
 	MLX5_REFORMAT_TYPE_DEL_ESP_TRANSPORT = 0x8,
 	MLX5_REFORMAT_TYPE_L3_ESP_TUNNEL_TO_L2 = 0x9,
+	MLX5_REFORMAT_TYPE_DEL_ESP_TRANSPORT_OVER_UDP = 0xa,
 	MLX5_REFORMAT_TYPE_ADD_ESP_TRANSPORT_OVER_IPV6 = 0xb,
+	MLX5_REFORMAT_TYPE_ADD_ESP_TRANSPORT_OVER_UDPV6 = 0xc,
 	MLX5_REFORMAT_TYPE_INSERT_HDR = 0xf,
 	MLX5_REFORMAT_TYPE_REMOVE_HDR = 0x10,
 	MLX5_REFORMAT_TYPE_ADD_MACSEC = 0x11,
diff --git a/net/xfrm/xfrm_device.c b/net/xfrm/xfrm_device.c
index 533697e2488f..3784534c9185 100644
--- a/net/xfrm/xfrm_device.c
+++ b/net/xfrm/xfrm_device.c
@@ -247,12 +247,6 @@ int xfrm_dev_state_add(struct net *net, struct xfrm_state *x,
 		return -EINVAL;
 	}
 
-	/* We don't yet support UDP encapsulation and TFC padding. */
-	if (x->encap || x->tfcpad) {
-		NL_SET_ERR_MSG(extack, "Encapsulation and TFC padding can't be offloaded");
-		return -EINVAL;
-	}
-
 	if (xuo->flags &
 	    ~(XFRM_OFFLOAD_IPV6 | XFRM_OFFLOAD_INBOUND | XFRM_OFFLOAD_PACKET)) {
 		NL_SET_ERR_MSG(extack, "Unrecognized flags in offload request");
@@ -260,6 +254,13 @@ int xfrm_dev_state_add(struct net *net, struct xfrm_state *x,
 	}
 
 	is_packet_offload = xuo->flags & XFRM_OFFLOAD_PACKET;
+
+	/* We don't yet support UDP encapsulation and TFC padding. */
+	if ((!is_packet_offload && x->encap) || x->tfcpad) {
+		NL_SET_ERR_MSG(extack, "Encapsulation and TFC padding can't be offloaded");
+		return -EINVAL;
+	}
+
 	dev = dev_get_by_index(net, xuo->ifindex);
 	if (!dev) {
 		if (!(xuo->flags & XFRM_OFFLOAD_INBOUND)) {