diff --git a/sql/catalyst/src/main/scala/org/apache/spark/sql/catalyst/expressions/predicates.scala b/sql/catalyst/src/main/scala/org/apache/spark/sql/catalyst/expressions/predicates.scala
index 06985ac85b70e..02d5a1f27aa7f 100644
--- a/sql/catalyst/src/main/scala/org/apache/spark/sql/catalyst/expressions/predicates.scala
+++ b/sql/catalyst/src/main/scala/org/apache/spark/sql/catalyst/expressions/predicates.scala
@@ -116,6 +116,10 @@ trait PredicateHelper {
       // non-correlated subquery will be replaced as literal
       e.children.isEmpty
     case a: AttributeReference => true
+    // PythonUDF will be executed by dedicated physical operator later.
+    // For PythonUDFs that can't be evaluated in join condition, `PullOutPythonUDFInJoinCondition`
+    // will pull them out later.
+    case _: PythonUDF => true
     case e: Unevaluable => false
     case e => e.children.forall(canEvaluateWithinJoin)
   }
diff --git a/sql/catalyst/src/test/scala/org/apache/spark/sql/catalyst/optimizer/FilterPushdownSuite.scala b/sql/catalyst/src/test/scala/org/apache/spark/sql/catalyst/optimizer/FilterPushdownSuite.scala
index 2db4667fd0561..3ec8d18bc871d 100644
--- a/sql/catalyst/src/test/scala/org/apache/spark/sql/catalyst/optimizer/FilterPushdownSuite.scala
+++ b/sql/catalyst/src/test/scala/org/apache/spark/sql/catalyst/optimizer/FilterPushdownSuite.scala
@@ -17,6 +17,7 @@
 
 package org.apache.spark.sql.catalyst.optimizer
 
+import org.apache.spark.api.python.PythonEvalType
 import org.apache.spark.sql.catalyst.analysis.EliminateSubqueryAliases
 import org.apache.spark.sql.catalyst.dsl.expressions._
 import org.apache.spark.sql.catalyst.dsl.plans._
@@ -24,7 +25,7 @@ import org.apache.spark.sql.catalyst.expressions._
 import org.apache.spark.sql.catalyst.plans._
 import org.apache.spark.sql.catalyst.plans.logical._
 import org.apache.spark.sql.catalyst.rules._
-import org.apache.spark.sql.types.IntegerType
+import org.apache.spark.sql.types.{BooleanType, IntegerType}
 import org.apache.spark.unsafe.types.CalendarInterval
 
 class FilterPushdownSuite extends PlanTest {
@@ -41,9 +42,14 @@ class FilterPushdownSuite extends PlanTest {
         CollapseProject) :: Nil
   }
 
-  val testRelation = LocalRelation('a.int, 'b.int, 'c.int)
+  val attrA = 'a.int
+  val attrB = 'b.int
+  val attrC = 'c.int
+  val attrD = 'd.int
 
-  val testRelation1 = LocalRelation('d.int)
+  val testRelation = LocalRelation(attrA, attrB, attrC)
+
+  val testRelation1 = LocalRelation(attrD)
 
   // This test already passes.
   test("eliminate subqueries") {
@@ -1202,4 +1208,26 @@ class FilterPushdownSuite extends PlanTest {
     comparePlans(Optimize.execute(originalQuery.analyze), correctAnswer.analyze,
       checkAnalysis = false)
   }
+
+  test("SPARK-28345: PythonUDF predicate should be able to pushdown to join") {
+    val pythonUDFJoinCond = {
+      val pythonUDF = PythonUDF("pythonUDF", null,
+        IntegerType,
+        Seq(attrA),
+        PythonEvalType.SQL_BATCHED_UDF,
+        udfDeterministic = true)
+      pythonUDF === attrD
+    }
+
+    val query = testRelation.join(
+      testRelation1,
+      joinType = Cross).where(pythonUDFJoinCond)
+
+    val expected = testRelation.join(
+      testRelation1,
+      joinType = Cross,
+      condition = Some(pythonUDFJoinCond)).analyze
+
+    comparePlans(Optimize.execute(query.analyze), expected)
+  }
 }
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 32cddc94166b7..503168ec69d54 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
@@ -26,7 +26,8 @@ import org.apache.spark.TestUtils.{assertNotSpilled, assertSpilled}
 import org.apache.spark.sql.catalyst.TableIdentifier
 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.catalyst.plans.logical.Filter
+import org.apache.spark.sql.execution.{BinaryExecNode, FilterExec, SortExec}
 import org.apache.spark.sql.execution.joins._
 import org.apache.spark.sql.execution.python.BatchEvalPythonExec
 import org.apache.spark.sql.internal.SQLConf
@@ -994,4 +995,26 @@ class JoinSuite extends QueryTest with SharedSQLContext {
 
     checkAnswer(df, Row(1, 2, 1, 2) :: Nil)
   }
+
+  test("SPARK-28345: PythonUDF predicate should be able to pushdown to join") {
+    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.crossJoin(right).where(pythonTestUDF($"a") === pythonTestUDF($"c"))
+
+    // Before optimization, there is a logical Filter operator.
+    val filterInAnalysis = df.queryExecution.analyzed.find(_.isInstanceOf[Filter])
+    assert(filterInAnalysis.isDefined)
+
+    // Filter predicate was pushdown as join condition. So there is no Filter exec operator.
+    val filterExec = df.queryExecution.executedPlan.find(_.isInstanceOf[FilterExec])
+    assert(filterExec.isEmpty)
+
+    checkAnswer(df, Row(1, 2, 1, 2) :: Nil)
+  }
 }