diff --git a/.gitmodules b/.gitmodules
index cdde0cafa561..b69834a10a34 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -106,3 +106,6 @@
 [submodule "src/modules/rust_module_example"]
 	path = src/modules/rust_module_example
 	url = git@github.com:tiiuae/rust_module_example.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 602fc5d31b88..6731dac61b3f 100755
--- a/clone_public.sh
+++ b/clone_public.sh
@@ -13,6 +13,7 @@ do
   [[ "${repo}" == *secure_udp ]] || \
   [[ "${repo}" == *rust_px4_nuttx ]] || \
   [[ "${repo}" == *rust_module_example ]] || \
+  [[ "${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..c96b3c892e5e
--- /dev/null
+++ b/src/modules/secure_udp_proxy
@@ -0,0 +1 @@
+Subproject commit c96b3c892e5ed90acf6c9e4ff6bb3a8c34d7c134