diff --git a/ports/sdformat13/cmake-config.patch b/ports/sdformat13/cmake-config.patch
new file mode 100644
index 00000000000000..34970b6dc6bd98
--- /dev/null
+++ b/ports/sdformat13/cmake-config.patch
@@ -0,0 +1,23 @@
+diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
+index 3465a8f..2b57440 100644
+--- a/src/CMakeLists.txt
++++ b/src/CMakeLists.txt
+@@ -26,6 +26,7 @@ else()
+   target_link_libraries(using_parser_urdf INTERFACE
+     GzURDFDOM::GzURDFDOM)
+ endif()
++install(TARGETS using_parser_urdf EXPORT ${PROJECT_LIBRARY_TARGET_NAME} COMPONENT libraries)
+ 
+ if (BUILD_TESTING)
+   # Build this test file only if Gazebo Tools is installed.
+
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -58,6 +58,6 @@
+   if (NOT DEFINED USE_INTERNAL_URDF OR NOT USE_INTERNAL_URDF)
+-    gz_find_package(GzURDFDOM VERSION 1.0 QUIET)
++    gz_find_package(GzURDFDOM)
+     if (NOT GzURDFDOM_FOUND)
+       if (NOT DEFINED USE_INTERNAL_URDF)
+         # fallback to internal urdf
+         set(USE_INTERNAL_URDF ON)
diff --git a/ports/sdformat13/no-absolute.patch b/ports/sdformat13/no-absolute.patch
new file mode 100644
index 00000000000000..42ea51baa8cedf
--- /dev/null
+++ b/ports/sdformat13/no-absolute.patch
@@ -0,0 +1,38 @@
+diff --git a/include/sdf/config.hh.in b/include/sdf/config.hh.in
+index d1b3db53..9a9ce91d 100644
+--- a/include/sdf/config.hh.in
++++ b/include/sdf/config.hh.in
+@@ -48,5 +48,3 @@ 
+ #cmakedefine SDFORMAT_DISABLE_CONSOLE_LOGFILE 1
+ 
+-#define SDF_SHARE_PATH "${CMAKE_INSTALL_FULL_DATAROOTDIR}/"
+-#define SDF_VERSION_PATH "${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${SDF_MAJOR_VERSION}/${SDF_PKG_VERSION}"
+ 
+diff --git a/src/SDF.cc b/src/SDF.cc
+index 20dcd4c6..802cbde3 100644
+--- a/src/SDF.cc
++++ b/src/SDF.cc
+@@ -97,22 +97,6 @@ std::string findFile(const std::string &_filename, bool _searchLocalPath,
+     filename = filename.substr(idx + sep.length());
+   }
+ 
+-  // Next check the install path.
+-  std::string path = sdf::filesystem::append(SDF_SHARE_PATH, filename);
+-  if (sdf::filesystem::exists(path))
+-  {
+-    return path;
+-  }
+-
+-  // Next check the versioned install path.
+-  path = sdf::filesystem::append(SDF_SHARE_PATH,
+-                                 "sdformat" SDF_MAJOR_VERSION_STR,
+-                                 sdf::SDF::Version(), filename);
+-  if (sdf::filesystem::exists(path))
+-  {
+-    return path;
+-  }
+-
+   // Next check to see if the given file exists.
+-   path = filename;
++   std::string path = filename;
+   if (sdf::filesystem::exists(path))
diff --git a/ports/sdformat13/portfile.cmake b/ports/sdformat13/portfile.cmake
new file mode 100644
index 00000000000000..146dd44ec0df89
--- /dev/null
+++ b/ports/sdformat13/portfile.cmake
@@ -0,0 +1,34 @@
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO gazebosim/sdformat
+    REF "sdformat13_${VERSION}"
+    SHA512 adc555527aadaede84d6fde11555bf4872028d9e895fc47c89f4077452fde9a52b233d60d0cbff5a098e261c7810aa2dc38a6275ec9f37ba4d0161af98e2aade
+    HEAD_REF sdf13
+    PATCHES
+        no-absolute.patch
+        cmake-config.patch
+)
+
+# Ruby is required by the sdformat build process
+vcpkg_find_acquire_program(RUBY)
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+    OPTIONS
+        "-DRUBY=${RUBY}"
+        -DBUILD_TESTING=OFF
+        -DSKIP_PYBIND11=ON
+        -DUSE_INTERNAL_URDF=OFF
+        -DCMAKE_DISABLE_FIND_PACKAGE_Doxygen=ON
+        -DCMAKE_REQUIRE_FIND_PACKAGE_GzURDFDOM=ON
+        -DCMAKE_DISABLE_FIND_PACKAGE_Python3=ON
+)
+
+vcpkg_cmake_install()
+vcpkg_cmake_config_fixup(CONFIG_PATH "lib/cmake/sdformat13")
+vcpkg_fixup_pkgconfig()
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include"
+                    "${CURRENT_PACKAGES_DIR}/debug/share")
+
+vcpkg_install_copyright(FILE_LIST "${SOURCE_PATH}/LICENSE")
diff --git a/ports/sdformat13/vcpkg.json b/ports/sdformat13/vcpkg.json
new file mode 100644
index 00000000000000..440bb85124adcb
--- /dev/null
+++ b/ports/sdformat13/vcpkg.json
@@ -0,0 +1,23 @@
+{
+  "name": "sdformat13",
+  "version": "13.5.0",
+  "description": "Simulation Description Format (SDF) parser and description files.",
+  "homepage": "http://sdformat.org/",
+  "license": "Apache-2.0",
+  "supports": "!uwp",
+  "dependencies": [
+    "gz-math7",
+    "gz-tools2",
+    "gz-utils2",
+    "tinyxml2",
+    "urdfdom",
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ]
+}
diff --git a/versions/baseline.json b/versions/baseline.json
index 6b4dc362ba019a..6c23270df283d9 100644
--- a/versions/baseline.json
+++ b/versions/baseline.json
@@ -7444,6 +7444,10 @@
       "baseline": "10.0.0",
       "port-version": 3
     },
+    "sdformat13": {
+      "baseline": "13.5.0",
+      "port-version": 0
+    },
     "sdformat6": {
       "baseline": "6.2.0",
       "port-version": 6
diff --git a/versions/s-/sdformat13.json b/versions/s-/sdformat13.json
new file mode 100644
index 00000000000000..ae3c3f2f9006f6
--- /dev/null
+++ b/versions/s-/sdformat13.json
@@ -0,0 +1,9 @@
+{
+  "versions": [
+    {
+      "git-tree": "b8f7d3bdbefa0795808f6c9a42764584d6e96f2c",
+      "version": "13.5.0",
+      "port-version": 0
+    }
+  ]
+}