diff --git a/wgengine/router/router_linux.go b/wgengine/router/router_linux.go
index 3a95c00ca..a4c9782c9 100644
--- a/wgengine/router/router_linux.go
+++ b/wgengine/router/router_linux.go
@@ -1112,6 +1112,30 @@ func (r *linuxRouter) addNetfilterBase() error {
 	return nil
 }
 
+// allowDiscoRule is the iptables rule to allow all UDP discovery packets in.
+// See https://github.com/tailscale/tailscale/issues/3824.
+var allowDiscoRule = []string{
+	"-p", "udp", // UDP
+	"!", "-f", // not fragmented parts of UDP packets
+	"-m", "u32", "--u32",
+	"0>>22&0x3C@8=0x5453f09f && 0>>22&0x3C@10&0xffff=0x92ac", // check first 6 bytes of UDP payload is disco packet magic
+	"-m", "comment", "--comment", "Allow Tailscale NAT traversal",
+	"-j", "ACCEPT",
+}
+
+// allowDiscoRule6 is allowDiscoRule without the fragment check that doesn't
+// apply to IPv6, and with the right offsets for the IPv6 UDP payload.
+//
+// Note: this doesn't work if IPv6 extension headers are present. Oh well.
+// It'll help most users.
+var allowDiscoRule6 = []string{
+	"-p", "udp", // UDP
+	"-m", "u32", "--u32",
+	"0x30=0x5453f09f && 0x32&0xffff=0x92ac", // check first 6 bytes of UDP payload is disco packet magic
+	"-m", "comment", "--comment", "Allow Tailscale NAT traversal",
+	"-j", "ACCEPT",
+}
+
 // addNetfilterBase4 adds some basic IPv4 processing rules to be
 // supplemented by later calls to other helpers.
 func (r *linuxRouter) addNetfilterBase4() error {
@@ -1129,6 +1153,10 @@ func (r *linuxRouter) addNetfilterBase4() error {
 	if err := r.ipt4.Append("filter", "ts-input", args...); err != nil {
 		return fmt.Errorf("adding %v in v4/filter/ts-input: %w", args, err)
 	}
+	if err := r.ipt4.Append("filter", "ts-input", allowDiscoRule...); err != nil {
+		// Not worth returning an error about. (Maybe they lack u32 kernel match support.)
+		r.logf("ignoring error adding allow-disco in v4/filter/ts-input: %v", err)
+	}
 
 	// Forward all traffic from the Tailscale interface, and drop
 	// traffic to the tailscale interface by default. We use packet
@@ -1167,6 +1195,11 @@ func (r *linuxRouter) addNetfilterBase6() error {
 	// TODO: only allow traffic from Tailscale's ULA range to come
 	// from tailscale0.
 
+	if err := r.ipt6.Append("filter", "ts-input", allowDiscoRule6...); err != nil {
+		// Not worth returning an error about. (Maybe they lack u32 kernel match support.)
+		r.logf("ignoring error adding allow-disco in v6/filter/ts-input: %v", err)
+	}
+
 	args := []string{"-i", r.tunname, "-j", "MARK", "--set-mark", tailscaleSubnetRouteMark}
 	if err := r.ipt6.Append("filter", "ts-forward", args...); err != nil {
 		return fmt.Errorf("adding %v in v6/filter/ts-forward: %w", args, err)
diff --git a/wgengine/router/router_linux_test.go b/wgengine/router/router_linux_test.go
index 01191315c..bfbddb899 100644
--- a/wgengine/router/router_linux_test.go
+++ b/wgengine/router/router_linux_test.go
@@ -108,6 +108,7 @@ func TestRouterStates(t *testing.T) {
 v4/filter/ts-input -i lo -s 100.101.102.104 -j ACCEPT
 v4/filter/ts-input ! -i tailscale0 -s 100.115.92.0/23 -j RETURN
 v4/filter/ts-input ! -i tailscale0 -s 100.64.0.0/10 -j DROP
+v4/filter/ts-input -p udp ! -f -m u32 --u32 0>>22&0x3C@8=0x5453f09f && 0>>22&0x3C@10&0xffff=0x92ac -m comment --comment Allow Tailscale NAT traversal -j ACCEPT
 v4/nat/POSTROUTING -j ts-postrouting
 v4/nat/ts-postrouting -m mark --mark 0x40000 -j MASQUERADE
 v6/filter/FORWARD -j ts-forward
@@ -115,6 +116,7 @@ func TestRouterStates(t *testing.T) {
 v6/filter/ts-forward -i tailscale0 -j MARK --set-mark 0x40000
 v6/filter/ts-forward -m mark --mark 0x40000 -j ACCEPT
 v6/filter/ts-forward -o tailscale0 -j ACCEPT
+v6/filter/ts-input -p udp -m u32 --u32 0x30=0x5453f09f && 0x32&0xffff=0x92ac -m comment --comment Allow Tailscale NAT traversal -j ACCEPT
 v6/nat/POSTROUTING -j ts-postrouting
 v6/nat/ts-postrouting -m mark --mark 0x40000 -j MASQUERADE
 `,
@@ -140,12 +142,14 @@ func TestRouterStates(t *testing.T) {
 v4/filter/ts-input -i lo -s 100.101.102.104 -j ACCEPT
 v4/filter/ts-input ! -i tailscale0 -s 100.115.92.0/23 -j RETURN
 v4/filter/ts-input ! -i tailscale0 -s 100.64.0.0/10 -j DROP
+v4/filter/ts-input -p udp ! -f -m u32 --u32 0>>22&0x3C@8=0x5453f09f && 0>>22&0x3C@10&0xffff=0x92ac -m comment --comment Allow Tailscale NAT traversal -j ACCEPT
 v4/nat/POSTROUTING -j ts-postrouting
 v6/filter/FORWARD -j ts-forward
 v6/filter/INPUT -j ts-input
 v6/filter/ts-forward -i tailscale0 -j MARK --set-mark 0x40000
 v6/filter/ts-forward -m mark --mark 0x40000 -j ACCEPT
 v6/filter/ts-forward -o tailscale0 -j ACCEPT
+v6/filter/ts-input -p udp -m u32 --u32 0x30=0x5453f09f && 0x32&0xffff=0x92ac -m comment --comment Allow Tailscale NAT traversal -j ACCEPT
 v6/nat/POSTROUTING -j ts-postrouting
 `,
 		},
@@ -173,17 +177,19 @@ func TestRouterStates(t *testing.T) {
 v4/filter/ts-input -i lo -s 100.101.102.104 -j ACCEPT
 v4/filter/ts-input ! -i tailscale0 -s 100.115.92.0/23 -j RETURN
 v4/filter/ts-input ! -i tailscale0 -s 100.64.0.0/10 -j DROP
+v4/filter/ts-input -p udp ! -f -m u32 --u32 0>>22&0x3C@8=0x5453f09f && 0>>22&0x3C@10&0xffff=0x92ac -m comment --comment Allow Tailscale NAT traversal -j ACCEPT
 v4/nat/POSTROUTING -j ts-postrouting
 v6/filter/FORWARD -j ts-forward
 v6/filter/INPUT -j ts-input
 v6/filter/ts-forward -i tailscale0 -j MARK --set-mark 0x40000
 v6/filter/ts-forward -m mark --mark 0x40000 -j ACCEPT
 v6/filter/ts-forward -o tailscale0 -j ACCEPT
+v6/filter/ts-input -p udp -m u32 --u32 0x30=0x5453f09f && 0x32&0xffff=0x92ac -m comment --comment Allow Tailscale NAT traversal -j ACCEPT
 v6/nat/POSTROUTING -j ts-postrouting
 `,
 		},
 		{
-			name: "addr and routes with netfilter",
+			name: "addr and routes with netfilter v2",
 			in: &Config{
 				LocalAddrs:    mustCIDRs("100.101.102.104/10"),
 				Routes:        mustCIDRs("100.100.100.100/32", "10.0.0.0/8"),
@@ -203,12 +209,14 @@ func TestRouterStates(t *testing.T) {
 v4/filter/ts-input -i lo -s 100.101.102.104 -j ACCEPT
 v4/filter/ts-input ! -i tailscale0 -s 100.115.92.0/23 -j RETURN
 v4/filter/ts-input ! -i tailscale0 -s 100.64.0.0/10 -j DROP
+v4/filter/ts-input -p udp ! -f -m u32 --u32 0>>22&0x3C@8=0x5453f09f && 0>>22&0x3C@10&0xffff=0x92ac -m comment --comment Allow Tailscale NAT traversal -j ACCEPT
 v4/nat/POSTROUTING -j ts-postrouting
 v6/filter/FORWARD -j ts-forward
 v6/filter/INPUT -j ts-input
 v6/filter/ts-forward -i tailscale0 -j MARK --set-mark 0x40000
 v6/filter/ts-forward -m mark --mark 0x40000 -j ACCEPT
 v6/filter/ts-forward -o tailscale0 -j ACCEPT
+v6/filter/ts-input -p udp -m u32 --u32 0x30=0x5453f09f && 0x32&0xffff=0x92ac -m comment --comment Allow Tailscale NAT traversal -j ACCEPT
 v6/nat/POSTROUTING -j ts-postrouting
 `,
 		},
@@ -232,9 +240,11 @@ func TestRouterStates(t *testing.T) {
 v4/filter/ts-input -i lo -s 100.101.102.104 -j ACCEPT
 v4/filter/ts-input ! -i tailscale0 -s 100.115.92.0/23 -j RETURN
 v4/filter/ts-input ! -i tailscale0 -s 100.64.0.0/10 -j DROP
+v4/filter/ts-input -p udp ! -f -m u32 --u32 0>>22&0x3C@8=0x5453f09f && 0>>22&0x3C@10&0xffff=0x92ac -m comment --comment Allow Tailscale NAT traversal -j ACCEPT
 v6/filter/ts-forward -i tailscale0 -j MARK --set-mark 0x40000
 v6/filter/ts-forward -m mark --mark 0x40000 -j ACCEPT
 v6/filter/ts-forward -o tailscale0 -j ACCEPT
+v6/filter/ts-input -p udp -m u32 --u32 0x30=0x5453f09f && 0x32&0xffff=0x92ac -m comment --comment Allow Tailscale NAT traversal -j ACCEPT
 `,
 		},
 		{
@@ -258,12 +268,14 @@ func TestRouterStates(t *testing.T) {
 v4/filter/ts-input -i lo -s 100.101.102.104 -j ACCEPT
 v4/filter/ts-input ! -i tailscale0 -s 100.115.92.0/23 -j RETURN
 v4/filter/ts-input ! -i tailscale0 -s 100.64.0.0/10 -j DROP
+v4/filter/ts-input -p udp ! -f -m u32 --u32 0>>22&0x3C@8=0x5453f09f && 0>>22&0x3C@10&0xffff=0x92ac -m comment --comment Allow Tailscale NAT traversal -j ACCEPT
 v4/nat/POSTROUTING -j ts-postrouting
 v6/filter/FORWARD -j ts-forward
 v6/filter/INPUT -j ts-input
 v6/filter/ts-forward -i tailscale0 -j MARK --set-mark 0x40000
 v6/filter/ts-forward -m mark --mark 0x40000 -j ACCEPT
 v6/filter/ts-forward -o tailscale0 -j ACCEPT
+v6/filter/ts-input -p udp -m u32 --u32 0x30=0x5453f09f && 0x32&0xffff=0x92ac -m comment --comment Allow Tailscale NAT traversal -j ACCEPT
 v6/nat/POSTROUTING -j ts-postrouting
 `,
 		},
@@ -290,12 +302,14 @@ func TestRouterStates(t *testing.T) {
 v4/filter/ts-input -i lo -s 100.101.102.104 -j ACCEPT
 v4/filter/ts-input ! -i tailscale0 -s 100.115.92.0/23 -j RETURN
 v4/filter/ts-input ! -i tailscale0 -s 100.64.0.0/10 -j DROP
+v4/filter/ts-input -p udp ! -f -m u32 --u32 0>>22&0x3C@8=0x5453f09f && 0>>22&0x3C@10&0xffff=0x92ac -m comment --comment Allow Tailscale NAT traversal -j ACCEPT
 v4/nat/POSTROUTING -j ts-postrouting
 v6/filter/FORWARD -j ts-forward
 v6/filter/INPUT -j ts-input
 v6/filter/ts-forward -i tailscale0 -j MARK --set-mark 0x40000
 v6/filter/ts-forward -m mark --mark 0x40000 -j ACCEPT
 v6/filter/ts-forward -o tailscale0 -j ACCEPT
+v6/filter/ts-input -p udp -m u32 --u32 0x30=0x5453f09f && 0x32&0xffff=0x92ac -m comment --comment Allow Tailscale NAT traversal -j ACCEPT
 v6/nat/POSTROUTING -j ts-postrouting
 `,
 		},