diff --git a/api/envoy/config/rbac/v2/rbac.proto b/api/envoy/config/rbac/v2/rbac.proto
index 3cfe43a828fe..77e1aa687fa9 100644
--- a/api/envoy/config/rbac/v2/rbac.proto
+++ b/api/envoy/config/rbac/v2/rbac.proto
@@ -170,8 +170,9 @@ message Principal {
     reserved 1;
     reserved "name";
 
-    // The name of the principal. If set, The URI SAN is used from the certificate, otherwise the
-    // subject field is used. If unset, it applies to any user that is authenticated.
+    // The name of the principal. If set, The URI SAN or DNS SAN in that order is used from the
+    // certificate, otherwise the subject field is used. If unset, it applies to any user that is
+    // authenticated.
     envoy.type.matcher.StringMatcher principal_name = 2;
   }
 
diff --git a/docs/root/intro/version_history.rst b/docs/root/intro/version_history.rst
index 4d5123dd04bb..7a1245ae965c 100644
--- a/docs/root/intro/version_history.rst
+++ b/docs/root/intro/version_history.rst
@@ -18,6 +18,7 @@ Version history
 * http: added the ability to reject HTTP/1.1 requests with invalid HTTP header values, using the runtime feature `envoy.reloadable_features.strict_header_validation`.
 * http: added the ability to :ref:`merge adjacent slashes<envoy_api_field_config.filter.network.http_connection_manager.v2.HttpConnectionManager.merge_slashes>` in the path.
 * listeners: added :ref:`HTTP inspector listener filter <config_listener_filters_http_inspector>`.
+* rbac: added support for DNS SAN as :ref:`principal_name <envoy_api_field_config.rbac.v2.Principal.Authenticated.principal_name>`.
 * router: added :ref:`rq_retry_skipped_request_not_complete <config_http_filters_router_stats>` counter stat to router stats.
 * router check tool: add coverage reporting & enforcement.
 * tls: added verification of IP address SAN fields in certificates against configured SANs in the
diff --git a/source/extensions/filters/common/rbac/matchers.cc b/source/extensions/filters/common/rbac/matchers.cc
index d718e8b34167..07472b49a003 100644
--- a/source/extensions/filters/common/rbac/matchers.cc
+++ b/source/extensions/filters/common/rbac/matchers.cc
@@ -142,10 +142,17 @@ bool AuthenticatedMatcher::matches(const Network::Connection& connection,
 
   const auto uriSans = ssl->uriSanPeerCertificate();
   std::string principal;
-  if (uriSans.empty()) {
-    principal = ssl->subjectPeerCertificate();
-  } else {
+  // If set, The URI SAN  or DNS SAN in that order is used as Principal, otherwise the subject field
+  // is used.
+  if (!uriSans.empty()) {
     principal = uriSans[0];
+  } else {
+    const auto dnsSans = ssl->dnsSansPeerCertificate();
+    if (!dnsSans.empty()) {
+      principal = dnsSans[0];
+    } else {
+      principal = ssl->subjectPeerCertificate();
+    }
   }
 
   return matcher_.value().match(principal);
diff --git a/test/extensions/filters/common/rbac/matchers_test.cc b/test/extensions/filters/common/rbac/matchers_test.cc
index 424c1c56a74e..1262d8281550 100644
--- a/test/extensions/filters/common/rbac/matchers_test.cc
+++ b/test/extensions/filters/common/rbac/matchers_test.cc
@@ -205,12 +205,35 @@ TEST(AuthenticatedMatcher, uriSanPeerCertificate) {
   checkMatcher(AuthenticatedMatcher(auth), false, conn);
 }
 
+TEST(AuthenticatedMatcher, dnsSanPeerCertificate) {
+  Envoy::Network::MockConnection conn;
+  Envoy::Ssl::MockConnectionInfo ssl;
+
+  const std::vector<std::string> uri_sans;
+  const std::vector<std::string> dns_sans{"foo", "baz"};
+
+  EXPECT_CALL(ssl, uriSanPeerCertificate()).WillRepeatedly(Return(uri_sans));
+  EXPECT_CALL(Const(conn), ssl()).WillRepeatedly(Return(&ssl));
+
+  EXPECT_CALL(ssl, dnsSansPeerCertificate()).WillRepeatedly(Return(dns_sans));
+  EXPECT_CALL(Const(conn), ssl()).WillRepeatedly(Return(&ssl));
+
+  // We should get the first DNS SAN as URI SAN is not available.
+  envoy::config::rbac::v2::Principal_Authenticated auth;
+  auth.mutable_principal_name()->set_exact("foo");
+  checkMatcher(AuthenticatedMatcher(auth), true, conn);
+
+  auth.mutable_principal_name()->set_exact("bar");
+  checkMatcher(AuthenticatedMatcher(auth), false, conn);
+}
+
 TEST(AuthenticatedMatcher, subjectPeerCertificate) {
   Envoy::Network::MockConnection conn;
   Envoy::Ssl::MockConnectionInfo ssl;
 
   const std::vector<std::string> sans;
   EXPECT_CALL(ssl, uriSanPeerCertificate()).WillRepeatedly(Return(sans));
+  EXPECT_CALL(ssl, dnsSansPeerCertificate()).WillRepeatedly(Return(sans));
   EXPECT_CALL(ssl, subjectPeerCertificate()).WillRepeatedly(Return("bar"));
   EXPECT_CALL(Const(conn), ssl()).WillRepeatedly(Return(&ssl));