diff --git a/nameresolution/consul/consul.go b/nameresolution/consul/consul.go
index 63e0b10f23..e37e4db7c4 100644
--- a/nameresolution/consul/consul.go
+++ b/nameresolution/consul/consul.go
@@ -149,14 +149,24 @@ func (r *resolver) ResolveID(req nr.ResolveRequest) (addr string, err error) {
 	}
 
 	if svc.Service.Address != "" {
-		addr = svc.Service.Address + ":" + port
+		addr = svc.Service.Address
 	} else if svc.Node.Address != "" {
-		addr = svc.Node.Address + ":" + port
+		addr = svc.Node.Address
 	} else {
 		return "", fmt.Errorf("no healthy services found with AppID '%s'", req.ID)
 	}
 
-	return addr, nil
+	return formatAddress(addr, port)
+}
+
+func formatAddress(address string, port string) (addr string, err error) {
+	if net.ParseIP(address).To4() != nil {
+		return address + ":" + port, nil
+	} else if net.ParseIP(address).To16() != nil {
+		return fmt.Sprintf("[%s]:%s", address, port), nil
+	}
+
+	return "", fmt.Errorf("invalid ip address %s", address)
 }
 
 // getConfig configuration from metadata, defaults are best suited for self-hosted mode.
diff --git a/nameresolution/consul/consul_test.go b/nameresolution/consul/consul_test.go
index 1b378178c3..3efe3c17a5 100644
--- a/nameresolution/consul/consul_test.go
+++ b/nameresolution/consul/consul_test.go
@@ -207,7 +207,7 @@ func TestResolveID(t *testing.T) {
 						serviceResult: []*consul.ServiceEntry{
 							{
 								Service: &consul.AgentService{
-									Address: "123.234.345.456",
+									Address: "123.234.245.255",
 									Port:    8600,
 									Meta: map[string]string{
 										"DAPR_PORT": "50005",
@@ -222,7 +222,37 @@ func TestResolveID(t *testing.T) {
 
 				addr, _ := resolver.ResolveID(req)
 
-				assert.Equal(t, "123.234.345.456:50005", addr)
+				assert.Equal(t, "123.234.245.255:50005", addr)
+			},
+		},
+		{
+			"should get ipv6 address from service",
+			nr.ResolveRequest{
+				ID: "test-app",
+			},
+			func(t *testing.T, req nr.ResolveRequest) {
+				t.Helper()
+				mock := mockClient{
+					mockHealth: mockHealth{
+						serviceResult: []*consul.ServiceEntry{
+							{
+								Service: &consul.AgentService{
+									Address: "2001:db8:3333:4444:5555:6666:7777:8888",
+									Port:    8600,
+									Meta: map[string]string{
+										"DAPR_PORT": "50005",
+									},
+								},
+							},
+						},
+					},
+				}
+				resolver := newResolver(logger.NewLogger("test"), &mock)
+				resolver.config = testConfig
+
+				addr, _ := resolver.ResolveID(req)
+
+				assert.Equal(t, "[2001:db8:3333:4444:5555:6666:7777:8888]:50005", addr)
 			},
 		},
 		{
@@ -237,7 +267,7 @@ func TestResolveID(t *testing.T) {
 						serviceResult: []*consul.ServiceEntry{
 							{
 								Service: &consul.AgentService{
-									Address: "123.234.345.456",
+									Address: "123.234.245.255",
 									Port:    8600,
 									Meta: map[string]string{
 										"DAPR_PORT": "50005",
@@ -246,7 +276,7 @@ func TestResolveID(t *testing.T) {
 							},
 							{
 								Service: &consul.AgentService{
-									Address: "234.345.456.678",
+									Address: "234.245.255.228",
 									Port:    8600,
 									Meta: map[string]string{
 										"DAPR_PORT": "50005",
@@ -264,9 +294,9 @@ func TestResolveID(t *testing.T) {
 				for i := 0; i < 100; i++ {
 					addr, _ := resolver.ResolveID(req)
 
-					if addr == "123.234.345.456:50005" {
+					if addr == "123.234.245.255:50005" {
 						total1++
-					} else if addr == "234.345.456.678:50005" {
+					} else if addr == "234.245.255.228:50005" {
 						total2++
 					} else {
 						t.Fatalf("Received unexpected address: %s", addr)
@@ -291,7 +321,7 @@ func TestResolveID(t *testing.T) {
 						serviceResult: []*consul.ServiceEntry{
 							{
 								Node: &consul.Node{
-									Address: "999.888.777",
+									Address: "123.234.245.255",
 								},
 								Service: &consul.AgentService{
 									Address: "",
@@ -303,7 +333,7 @@ func TestResolveID(t *testing.T) {
 							},
 							{
 								Node: &consul.Node{
-									Address: "999.888.777",
+									Address: "123.234.245.255",
 								},
 								Service: &consul.AgentService{
 									Address: "",
@@ -321,7 +351,7 @@ func TestResolveID(t *testing.T) {
 
 				addr, _ := resolver.ResolveID(req)
 
-				assert.Equal(t, "999.888.777:50005", addr)
+				assert.Equal(t, "123.234.245.255:50005", addr)
 			},
 		},
 		{
@@ -366,7 +396,7 @@ func TestResolveID(t *testing.T) {
 						serviceResult: []*consul.ServiceEntry{
 							{
 								Service: &consul.AgentService{
-									Address: "123.234.345.456",
+									Address: "123.234.145.155",
 									Port:    8600,
 								},
 							},