diff --git a/pkg/auth/azure_auth.go b/pkg/auth/azure_auth.go
index 730a0a2c5b..c641f5cd03 100644
--- a/pkg/auth/azure_auth.go
+++ b/pkg/auth/azure_auth.go
@@ -100,6 +100,17 @@ func GetServicePrincipalToken(config *AzureAuthConfig, env *azure.Environment, r
 		}
 		if len(config.UserAssignedIdentityID) > 0 {
 			klog.V(4).Info("azure: using User Assigned MSI ID to retrieve access token")
+			resourceID, err := azure.ParseResourceID(config.UserAssignedIdentityID)
+			if err == nil &&
+				strings.EqualFold(resourceID.Provider, "Microsoft.ManagedIdentity") &&
+				strings.EqualFold(resourceID.ResourceType, "userAssignedIdentities") {
+				klog.V(4).Info("azure: User Assigned MSI ID is resource ID")
+				return adal.NewServicePrincipalTokenFromMSIWithIdentityResourceID(msiEndpoint,
+					resource,
+					config.UserAssignedIdentityID)
+			}
+
+			klog.V(4).Info("azure: User Assigned MSI ID is client ID. Resource ID parsing error: %+v", err)
 			return adal.NewServicePrincipalTokenFromMSIWithUserAssignedID(msiEndpoint,
 				resource,
 				config.UserAssignedIdentityID)
diff --git a/pkg/auth/azure_auth_test.go b/pkg/auth/azure_auth_test.go
index 89aebdb47a..435b4956b1 100644
--- a/pkg/auth/azure_auth_test.go
+++ b/pkg/auth/azure_auth_test.go
@@ -65,13 +65,13 @@ func TestGetServicePrincipalTokenFromMSIWithUserAssignedID(t *testing.T) {
 	configs := []*AzureAuthConfig{
 		{
 			UseManagedIdentityExtension: true,
-			UserAssignedIdentityID:      "UserAssignedIdentityID",
+			UserAssignedIdentityID:      "00000000-0000-0000-0000-000000000000",
 		},
 		// The Azure service principal is ignored when
 		// UseManagedIdentityExtension is set to true
 		{
 			UseManagedIdentityExtension: true,
-			UserAssignedIdentityID:      "UserAssignedIdentityID",
+			UserAssignedIdentityID:      "00000000-0000-0000-0000-000000000000",
 			TenantID:                    "TenantID",
 			AADClientID:                 "AADClientID",
 			AADClientSecret:             "AADClientSecret",
@@ -110,6 +110,55 @@ func TestGetServicePrincipalTokenFromMSIWithUserAssignedID(t *testing.T) {
 	}
 }
 
+func TestGetServicePrincipalTokenFromMSIWithIdentityResourceID(t *testing.T) {
+	configs := []*AzureAuthConfig{
+		{
+			UseManagedIdentityExtension: true,
+			UserAssignedIdentityID:      "/subscriptions/00000000-0000-0000-0000-000000000000/resourceGroups/rg/providers/Microsoft.ManagedIdentity/userAssignedIdentities/ua",
+		},
+		// The Azure service principal is ignored when
+		// UseManagedIdentityExtension is set to true
+		{
+			UseManagedIdentityExtension: true,
+			UserAssignedIdentityID:      "/subscriptions/00000000-0000-0000-0000-000000000000/resourceGroups/rg/providers/Microsoft.ManagedIdentity/userAssignedIdentities/ua",
+			TenantID:                    "TenantID",
+			AADClientID:                 "AADClientID",
+			AADClientSecret:             "AADClientSecret",
+		},
+	}
+	env := &azure.PublicCloud
+
+	// msiEndpointEnv and msiSecretEnv are required because autorest/adal library requires IMDS endpoint to be available.
+	server := httptest.NewServer(http.HandlerFunc(func(w http.ResponseWriter, r *http.Request) {
+		assert.Equal(t, "GET", r.Method)
+		w.WriteHeader(http.StatusOK)
+		_, err := w.Write([]byte("{}"))
+		assert.NoError(t, err)
+	}))
+	originalEnv := os.Getenv(msiEndpointEnv)
+	originalSecret := os.Getenv(msiSecretEnv)
+	os.Setenv(msiEndpointEnv, server.URL)
+	os.Setenv(msiSecretEnv, "secret")
+	defer func() {
+		server.Close()
+		os.Setenv(msiEndpointEnv, originalEnv)
+		os.Setenv(msiSecretEnv, originalSecret)
+	}()
+
+	for _, config := range configs {
+		token, err := GetServicePrincipalToken(config, env, "")
+		assert.NoError(t, err)
+
+		msiEndpoint, err := adal.GetMSIVMEndpoint()
+		assert.NoError(t, err)
+
+		spt, err := adal.NewServicePrincipalTokenFromMSIWithIdentityResourceID(msiEndpoint,
+			env.ServiceManagementEndpoint, config.UserAssignedIdentityID)
+		assert.NoError(t, err)
+		assert.Equal(t, token, spt)
+	}
+}
+
 func TestGetServicePrincipalTokenFromMSI(t *testing.T) {
 	configs := []*AzureAuthConfig{
 		{