diff --git a/internal/gatewayapi/route.go b/internal/gatewayapi/route.go
index 6bdeaf8b07..9c95e9d879 100644
--- a/internal/gatewayapi/route.go
+++ b/internal/gatewayapi/route.go
@@ -1117,16 +1117,6 @@ func (t *Translator) processUDPRouteParentRefs(udpRoute *UDPRouteContext, resour
 				metav1.ConditionFalse,
 				resolveErrs.Reason(),
 				resolveErrs.Error())
-
-			// TODO: zhaohuabing should we set the accepted condition to false here?
-			status.SetRouteStatusCondition(routeStatus,
-				parentRef.routeParentStatusIdx,
-				udpRoute.GetGeneration(),
-				gwapiv1.RouteConditionAccepted,
-				metav1.ConditionFalse,
-				"Failed to process the settings associated with the UDP route.",
-				resolveErrs.Error(),
-			)
 		} else {
 			status.SetRouteStatusCondition(routeStatus,
 				parentRef.routeParentStatusIdx,
diff --git a/internal/gatewayapi/testdata/gateway-with-listener-with-udproute-with-mismatch-port-protocol.out.yaml b/internal/gatewayapi/testdata/gateway-with-listener-with-udproute-with-mismatch-port-protocol.out.yaml
index dffc8a4c88..4e34fea026 100644
--- a/internal/gatewayapi/testdata/gateway-with-listener-with-udproute-with-mismatch-port-protocol.out.yaml
+++ b/internal/gatewayapi/testdata/gateway-with-listener-with-udproute-with-mismatch-port-protocol.out.yaml
@@ -73,9 +73,9 @@ udpRoutes:
     parents:
     - conditions:
       - lastTransitionTime: null
-        message: UDP Port 8080 not found on Service default/service-1
-        reason: Failed to process the settings associated with the UDP route.
-        status: "False"
+        message: Route is accepted
+        reason: Accepted
+        status: "True"
         type: Accepted
       - lastTransitionTime: null
         message: UDP Port 8080 not found on Service default/service-1
@@ -100,3 +100,11 @@ xdsIR:
     - address: 0.0.0.0
       name: envoy-gateway/gateway-1/udp
       port: 10162
+      route:
+        destination:
+          metadata:
+            kind: UDPRoute
+            name: udproute-1
+            namespace: default
+          name: udproute/default/udproute-1/rule/-1
+        name: udproute/default/udproute-1
diff --git a/internal/xds/translator/testdata/in/xds-ir/udp-route-no-endpoints.yaml b/internal/xds/translator/testdata/in/xds-ir/udp-route-no-endpoints.yaml
new file mode 100644
index 0000000000..c78d4436d6
--- /dev/null
+++ b/internal/xds/translator/testdata/in/xds-ir/udp-route-no-endpoints.yaml
@@ -0,0 +1,13 @@
+# UDP route with no endpoints, this will happen when the Gateway API translator failed to resolve the backendRefs
+udp:
+- name: "udp-route"
+  address: "0.0.0.0"
+  port: 10162
+  route:
+    destination:
+      metadata:
+        kind: UDPRoute
+        name: udproute-1
+        namespace: default
+      name: udproute/default/udproute-1/rule/-1
+    name: udproute/default/udproute-1
diff --git a/internal/xds/translator/testdata/out/xds-ir/udp-route-no-endpoints.clusters.yaml b/internal/xds/translator/testdata/out/xds-ir/udp-route-no-endpoints.clusters.yaml
new file mode 100644
index 0000000000..62b5062e7d
--- /dev/null
+++ b/internal/xds/translator/testdata/out/xds-ir/udp-route-no-endpoints.clusters.yaml
@@ -0,0 +1,24 @@
+- circuitBreakers:
+    thresholds:
+    - maxRetries: 1024
+  commonLbConfig:
+    localityWeightedLbConfig: {}
+  connectTimeout: 10s
+  dnsLookupFamily: V4_PREFERRED
+  edsClusterConfig:
+    edsConfig:
+      ads: {}
+      resourceApiVersion: V3
+    serviceName: udproute/default/udproute-1/rule/-1
+  ignoreHealthOnHostRemoval: true
+  lbPolicy: LEAST_REQUEST
+  metadata:
+    filterMetadata:
+      envoy-gateway:
+        resources:
+        - kind: UDPRoute
+          name: udproute-1
+          namespace: default
+  name: udproute/default/udproute-1/rule/-1
+  perConnectionBufferLimitBytes: 32768
+  type: EDS
diff --git a/internal/xds/translator/testdata/out/xds-ir/udp-route-no-endpoints.endpoints.yaml b/internal/xds/translator/testdata/out/xds-ir/udp-route-no-endpoints.endpoints.yaml
new file mode 100644
index 0000000000..3e07819c23
--- /dev/null
+++ b/internal/xds/translator/testdata/out/xds-ir/udp-route-no-endpoints.endpoints.yaml
@@ -0,0 +1 @@
+- clusterName: udproute/default/udproute-1/rule/-1
diff --git a/internal/xds/translator/testdata/out/xds-ir/udp-route-no-endpoints.listeners.yaml b/internal/xds/translator/testdata/out/xds-ir/udp-route-no-endpoints.listeners.yaml
new file mode 100644
index 0000000000..5edcecc248
--- /dev/null
+++ b/internal/xds/translator/testdata/out/xds-ir/udp-route-no-endpoints.listeners.yaml
@@ -0,0 +1,18 @@
+- address:
+    socketAddress:
+      address: 0.0.0.0
+      portValue: 10162
+      protocol: UDP
+  listenerFilters:
+  - name: envoy.filters.udp_listener.udp_proxy
+    typedConfig:
+      '@type': type.googleapis.com/envoy.extensions.filters.udp.udp_proxy.v3.UdpProxyConfig
+      matcher:
+        onNoMatch:
+          action:
+            name: route
+            typedConfig:
+              '@type': type.googleapis.com/envoy.extensions.filters.udp.udp_proxy.v3.Route
+              cluster: udproute/default/udproute-1/rule/-1
+      statPrefix: service
+  name: udp-route
diff --git a/internal/xds/translator/testdata/out/xds-ir/udp-route-no-endpoints.routes.yaml b/internal/xds/translator/testdata/out/xds-ir/udp-route-no-endpoints.routes.yaml
new file mode 100644
index 0000000000..fe51488c70
--- /dev/null
+++ b/internal/xds/translator/testdata/out/xds-ir/udp-route-no-endpoints.routes.yaml
@@ -0,0 +1 @@
+[]