diff --git a/python/mujoco/specs_test.py b/python/mujoco/specs_test.py
index d2f07eca..e92ddb59 100644
--- a/python/mujoco/specs_test.py
+++ b/python/mujoco/specs_test.py
@@ -479,6 +479,14 @@ class SpecsTest(absltest.TestCase):
     # Check that the state is the same.
     np.testing.assert_array_equal(state1, state2)
 
+  def test_parses_urdf(self):
+    file_path = epath.resource_path("mujoco") / "testdata" / "model.urdf"
+    filename = file_path.as_posix()
+
+    # Load from file.
+    spec1 = mujoco.MjSpec.from_file(filename)
+    self.assertIsNotNone(spec1)
+
   def test_make_mesh(self):
     spec = mujoco.MjSpec()
 
diff --git a/python/mujoco/testdata/model.urdf b/python/mujoco/testdata/model.urdf
new file mode 100644
index 00000000..f4b2793f
--- /dev/null
+++ b/python/mujoco/testdata/model.urdf
@@ -0,0 +1,4 @@
+<?xml version="1.0" ?>
+<robot name="tool">
+  <link name="tool"/>
+</robot>
diff --git a/python/pyproject.toml b/python/pyproject.toml
index 85106596..f8ca2c2c 100644
--- a/python/pyproject.toml
+++ b/python/pyproject.toml
@@ -58,6 +58,7 @@ mujoco = [
     "testdata/*.msh",
     "testdata/*.usda",
     "testdata/*.zip",
+    "testdata/*.urdf",
 ]
 
 [project.optional-dependencies]
diff --git a/src/user/user_api.cc b/src/user/user_api.cc
index 4dbf3b0e..ad93f468 100644
--- a/src/user/user_api.cc
+++ b/src/user/user_api.cc
@@ -72,7 +72,9 @@ mjSpec* mj_parse(const char* filename, const char* content_type,
 
   // early exit for existing XML workflow
   auto filepath = mujoco::user::FilePath(filename);
-  if (filepath.Ext() == ".xml" || (content_type && std::strcmp(content_type, "text/xml") == 0)) {
+  if (filepath.Ext() == ".xml" ||
+      filepath.Ext() == ".urdf" ||
+      (content_type && std::strcmp(content_type, "text/xml") == 0)) {
     return mj_parseXML(filename, vfs, error, error_sz);
   }