diff --git a/python/pyspark/sql/tests/test_udf.py b/python/pyspark/sql/tests/test_udf.py
index 0dafa18743fa..803d471c8c6f 100644
--- a/python/pyspark/sql/tests/test_udf.py
+++ b/python/pyspark/sql/tests/test_udf.py
@@ -197,6 +197,8 @@ def test_udf_in_join_condition(self):
         left = self.spark.createDataFrame([Row(a=1)])
         right = self.spark.createDataFrame([Row(b=1)])
         f = udf(lambda a, b: a == b, BooleanType())
+        # The udf uses attributes from both sides of join, so it is pulled out as Filter +
+        # Cross join.
         df = left.join(right, f("a", "b"))
         with self.assertRaisesRegexp(AnalysisException, 'Detected implicit cartesian product'):
             df.collect()
@@ -243,6 +245,14 @@ def runWithJoinType(join_type, type_string):
         runWithJoinType("leftanti", "LeftAnti")
         runWithJoinType("leftsemi", "LeftSemi")
 
+    def test_udf_as_join_condition(self):
+        left = self.spark.createDataFrame([Row(a=1, a1=1, a2=1), Row(a=2, a1=2, a2=2)])
+        right = self.spark.createDataFrame([Row(b=1, b1=1, b2=1), Row(b=1, b1=3, b2=1)])
+        f = udf(lambda a: a, IntegerType())
+
+        df = left.join(right, [f("a") == f("b"), left.a1 == right.b1])
+        self.assertEqual(df.collect(), [Row(a=1, a1=1, a2=1, b=1, b1=1, b2=1)])
+
     def test_udf_without_arguments(self):
         self.spark.catalog.registerFunction("foo", lambda: "bar")
         [row] = self.spark.sql("SELECT foo()").collect()
diff --git a/sql/core/src/main/scala/org/apache/spark/sql/execution/python/ExtractPythonUDFs.scala b/sql/core/src/main/scala/org/apache/spark/sql/execution/python/ExtractPythonUDFs.scala
index 58fe7d5cbc0f..fc4ded376bf1 100644
--- a/sql/core/src/main/scala/org/apache/spark/sql/execution/python/ExtractPythonUDFs.scala
+++ b/sql/core/src/main/scala/org/apache/spark/sql/execution/python/ExtractPythonUDFs.scala
@@ -179,7 +179,7 @@ object ExtractPythonUDFs extends Rule[LogicalPlan] with PredicateHelper {
             validUdfs.forall(PythonUDF.isScalarPythonUDF),
             "Can only extract scalar vectorized udf or sql batch udf")
 
-          val resultAttrs = udfs.zipWithIndex.map { case (u, i) =>
+          val resultAttrs = validUdfs.zipWithIndex.map { case (u, i) =>
             AttributeReference(s"pythonUDF$i", u.dataType)()
           }
 
diff --git a/sql/core/src/test/scala/org/apache/spark/sql/JoinSuite.scala b/sql/core/src/test/scala/org/apache/spark/sql/JoinSuite.scala
index 38c634e1107b..32cddc94166b 100644
--- a/sql/core/src/test/scala/org/apache/spark/sql/JoinSuite.scala
+++ b/sql/core/src/test/scala/org/apache/spark/sql/JoinSuite.scala
@@ -28,6 +28,7 @@ import org.apache.spark.sql.catalyst.analysis.UnresolvedRelation
 import org.apache.spark.sql.catalyst.expressions.{Ascending, SortOrder}
 import org.apache.spark.sql.execution.{BinaryExecNode, SortExec}
 import org.apache.spark.sql.execution.joins._
+import org.apache.spark.sql.execution.python.BatchEvalPythonExec
 import org.apache.spark.sql.internal.SQLConf
 import org.apache.spark.sql.test.SharedSQLContext
 import org.apache.spark.sql.types.StructType
@@ -969,4 +970,28 @@ class JoinSuite extends QueryTest with SharedSQLContext {
           Seq(Row(0.0d, 0.0/0.0)))))
     }
   }
+
+  test("SPARK-28323: PythonUDF should be able to use in join condition") {
+    import IntegratedUDFTestUtils._
+
+    assume(shouldTestPythonUDFs)
+
+    val pythonTestUDF = TestPythonUDF(name = "udf")
+
+    val left = Seq((1, 2), (2, 3)).toDF("a", "b")
+    val right = Seq((1, 2), (3, 4)).toDF("c", "d")
+    val df = left.join(right, pythonTestUDF($"a") === pythonTestUDF($"c"))
+
+    val joinNode = df.queryExecution.executedPlan.find(_.isInstanceOf[BroadcastHashJoinExec])
+    assert(joinNode.isDefined)
+
+    // There are two PythonUDFs which use attribute from left and right of join, individually.
+    // So two PythonUDFs should be evaluated before the join operator, at left and right side.
+    val pythonEvals = joinNode.get.collect {
+      case p: BatchEvalPythonExec => p
+    }
+    assert(pythonEvals.size == 2)
+
+    checkAnswer(df, Row(1, 2, 1, 2) :: Nil)
+  }
 }