diff --git a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
index 25757654..e443149c 100644
--- a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+++ b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
@@ -897,6 +897,29 @@ class ModelWriter {
       }
     }
 
+    // If geom rgba is not the default (0.5, 0.5, 0.5, 1), then set the
+    // displayColor attribute.
+    // No effort is made to properly handle the interaction between geom rgba
+    // and the material if both are specified.
+    if (geom->rgba[0] != 0.5f || geom->rgba[1] != 0.5f ||
+        geom->rgba[2] != 0.5f || geom->rgba[3] != 1.0f) {
+      // Set the displayColor attribute.
+      pxr::SdfPath display_color_attr = CreateAttributeSpec(
+          data_, geom_path, pxr::UsdGeomTokens->primvarsDisplayColor,
+          pxr::SdfValueTypeNames->Color3fArray);
+      SetAttributeDefault(data_, display_color_attr,
+                          pxr::VtArray<pxr::GfVec3f>{
+                              {geom->rgba[0], geom->rgba[1], geom->rgba[2]}});
+      // Set the displayOpacity attribute, only if the opacity is not 1.
+      if (geom->rgba[3] != 1.0f) {
+        pxr::SdfPath display_opacity_attr = CreateAttributeSpec(
+            data_, geom_path, pxr::UsdGeomTokens->primvarsDisplayOpacity,
+            pxr::SdfValueTypeNames->FloatArray);
+        SetAttributeDefault(data_, display_opacity_attr,
+                            pxr::VtArray<float>{geom->rgba[3]});
+      }
+    }
+
     if (body_id == kWorldIndex) {
       SetPrimKind(data_, geom_path, pxr::KindTokens->component);
     }
diff --git a/test/experimental/usd/plugins/mjcf/fixture.h b/test/experimental/usd/plugins/mjcf/fixture.h
index 9ab5ffe1..d7b8cda1 100644
--- a/test/experimental/usd/plugins/mjcf/fixture.h
+++ b/test/experimental/usd/plugins/mjcf/fixture.h
@@ -60,6 +60,13 @@
         .Get(&prim_purpose);                         \
     EXPECT_EQ(prim_purpose, purpose);                \
   }
+
+#define EXPECT_ATTRIBUTE_HAS_VALUE(stage, path) \
+  EXPECT_TRUE((stage)->GetAttributeAtPath(SdfPath(path)).HasValue());
+
+#define EXPECT_ATTRIBUTE_HAS_NO_VALUE(stage, path) \
+  EXPECT_FALSE((stage)->GetAttributeAtPath(SdfPath(path)).HasValue());
+
 namespace mujoco {
 
 pxr::SdfLayerRefPtr LoadLayer(
diff --git a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
index f5caeb19..f144da6e 100644
--- a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+++ b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
@@ -140,6 +140,53 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMaterials) {
       pxr::SdfAssetPath("textures/cube.png"));
 }
 
+TEST_F(MjcfSdfFileFormatPluginTest, TestGeomRgba) {
+  static constexpr char kXml[] = R"(
+    <mujoco model="test">
+      <worldbody>
+        <geom type="sphere" name="sphere_red" size="1" rgba="1 0 0 1"/>
+        <geom type="sphere" name="sphere_default" size="1"/>
+        <geom type="sphere" name="sphere_also_default" size="1" rgba="0.5 0.5 0.5 1"/>
+        <geom type="sphere" name="sphere_almost_default" size="1" rgba="0.5 0.5 0.5 0.9"/>
+      </worldbody>
+    </mujoco>
+  )";
+
+  pxr::SdfLayerRefPtr layer = LoadLayer(kXml);
+  auto stage = pxr::UsdStage::Open(layer);
+
+  EXPECT_PRIM_VALID(stage, "/test/sphere_red");
+  ExpectAttributeEqual(stage, "/test/sphere_red.primvars:displayColor",
+                       pxr::VtArray<pxr::GfVec3f>{{1, 0, 0}});
+  EXPECT_ATTRIBUTE_HAS_NO_VALUE(stage,
+                                "/test/sphere_red.primvars:displayOpacity");
+
+  // There's no mechanism in Mujoco to specify whether an attribute was set
+  // explicitly or not. We do the same as Mujoco does, which is to compare with
+  // the default value.
+  // Which explains why not setting rgba is the same as setting it to the
+  // default value of (0.5, 0.5, 0.5, 1).
+  EXPECT_PRIM_VALID(stage, "/test/sphere_default");
+  EXPECT_ATTRIBUTE_HAS_NO_VALUE(stage,
+                                "/test/sphere_default.primvars:displayColor");
+  EXPECT_ATTRIBUTE_HAS_NO_VALUE(stage,
+                                "/test/sphere_default.primvars:displayOpacity");
+
+  EXPECT_PRIM_VALID(stage, "/test/sphere_also_default");
+  EXPECT_ATTRIBUTE_HAS_NO_VALUE(
+      stage, "/test/sphere_also_default.primvars:displayColor");
+  EXPECT_ATTRIBUTE_HAS_NO_VALUE(
+      stage, "/test/sphere_also_default.primvars:displayOpacity");
+
+  EXPECT_PRIM_VALID(stage, "/test/sphere_almost_default");
+  ExpectAttributeEqual(stage,
+                       "/test/sphere_almost_default.primvars:displayColor",
+                       pxr::VtArray<pxr::GfVec3f>{{0.5, 0.5, 0.5}});
+  ExpectAttributeEqual(stage,
+                       "/test/sphere_almost_default.primvars:displayOpacity",
+                       pxr::VtArray<float>{0.9});
+}
+
 TEST_F(MjcfSdfFileFormatPluginTest, TestFaceVaryingMeshSourcesSimpleMjcfMesh) {
   static constexpr char kXml[] = R"(
     <mujoco model="mesh test">