diff --git a/credentials/credentials.go b/credentials/credentials.go
index 53f8fcdc9a0d..53addd8c71e9 100644
--- a/credentials/credentials.go
+++ b/credentials/credentials.go
@@ -27,7 +27,6 @@ import (
 	"errors"
 	"fmt"
 	"net"
-	"net/url"
 
 	"github.com/golang/protobuf/proto"
 	"google.golang.org/grpc/attributes"
@@ -88,7 +87,6 @@ func (s SecurityLevel) String() string {
 // This API is experimental.
 type CommonAuthInfo struct {
 	SecurityLevel SecurityLevel
-	SPIFFEID      *url.URL
 }
 
 // GetCommonAuthInfo returns the pointer to CommonAuthInfo struct.
diff --git a/credentials/tls.go b/credentials/tls.go
index 1db95e537387..1ba6f3a6b8f8 100644
--- a/credentials/tls.go
+++ b/credentials/tls.go
@@ -25,6 +25,7 @@ import (
 	"fmt"
 	"io/ioutil"
 	"net"
+	"net/url"
 
 	"google.golang.org/grpc/credentials/internal"
 	credinternal "google.golang.org/grpc/internal/credentials"
@@ -35,6 +36,8 @@ import (
 type TLSInfo struct {
 	State tls.ConnectionState
 	CommonAuthInfo
+	// This API is experimental.
+	SPIFFEID *url.URL
 }
 
 // AuthType returns the type of TLSInfo as a string.
@@ -101,10 +104,7 @@ func (c *tlsCreds) ClientHandshake(ctx context.Context, authority string, rawCon
 			SecurityLevel: PrivacyAndIntegrity,
 		},
 	}
-	id, err := credinternal.SPIFFEIDFromState(conn.ConnectionState())
-	if err != nil {
-		return nil, nil, err
-	}
+	id := credinternal.SPIFFEIDFromState(conn.ConnectionState())
 	if id != nil {
 		tlsInfo.SPIFFEID = id
 	}
@@ -123,10 +123,7 @@ func (c *tlsCreds) ServerHandshake(rawConn net.Conn) (net.Conn, AuthInfo, error)
 			SecurityLevel: PrivacyAndIntegrity,
 		},
 	}
-	id, err := credinternal.SPIFFEIDFromState(conn.ConnectionState())
-	if err != nil {
-		return nil, nil, err
-	}
+	id := credinternal.SPIFFEIDFromState(conn.ConnectionState())
 	if id != nil {
 		tlsInfo.SPIFFEID = id
 	}
diff --git a/internal/credentials/go110.go b/internal/credentials/go110.go
index 83a6559f2c95..f8d67399e775 100644
--- a/internal/credentials/go110.go
+++ b/internal/credentials/go110.go
@@ -25,20 +25,19 @@ package credentials
 
 import (
 	"crypto/tls"
-	"fmt"
 	"net/url"
 
 	"google.golang.org/grpc/grpclog"
 )
 
-// SPIFFEIDFromState parses the SPIFFE ID from State. An error is returned only
-// when we are sure SPIFFE ID is used but the format is wrong.
-func SPIFFEIDFromState(state tls.ConnectionState) (*url.URL, error) {
+// SPIFFEIDFromState parses the SPIFFE ID from State. If the SPIFFE ID format
+// is invalid, return nil with warning.
+func SPIFFEIDFromState(state tls.ConnectionState) *url.URL {
 	if len(state.PeerCertificates) == 0 || len(state.PeerCertificates[0].URIs) == 0 {
-		return nil, nil
+		return nil
 	}
-	spiffeIDCnt := 0
-	var spiffeID url.URL
+	spiffeIDFound := false
+	var spiffeID *url.URL
 	for _, uri := range state.PeerCertificates[0].URIs {
 		if uri == nil || uri.Scheme != "spiffe" || uri.Opaque != "" || (uri.User != nil && uri.User.Username() != "") {
 			continue
@@ -46,27 +45,24 @@ func SPIFFEIDFromState(state tls.ConnectionState) (*url.URL, error) {
 		// From this point, we assume the uri is intended for a SPIFFE ID.
 		if len(uri.Host)+len(uri.Scheme)+len(uri.RawPath)+4 > 2048 ||
 			len(uri.Host)+len(uri.Scheme)+len(uri.Path)+4 > 2048 {
-			return nil, fmt.Errorf("invalid SPIFFE ID: total ID length larger than 2048 bytes")
+			grpclog.Warning("invalid SPIFFE ID: total ID length larger than 2048 bytes")
+			return nil
 		}
 		if len(uri.Host) == 0 || len(uri.RawPath) == 0 || len(uri.Path) == 0 {
-			return nil, fmt.Errorf("invalid SPIFFE ID: domain or workload ID is empty")
+			grpclog.Warning("invalid SPIFFE ID: domain or workload ID is empty")
+			return nil
 		}
 		if len(uri.Host) > 255 {
-			return nil, fmt.Errorf("invalid SPIFFE ID: domain length larger than 255 characters")
+			grpclog.Warning("invalid SPIFFE ID: domain length larger than 255 characters")
+			return nil
 		}
-		// We use a default deep copy since we know the User field of a SPIFFE ID
-		// is empty.
-		spiffeID = *uri
-		spiffeIDCnt++
-	}
-	if spiffeIDCnt == 1 {
-		return &spiffeID, nil
-	} else if spiffeIDCnt > 1 {
-		// A standard SPIFFE ID should be unique. If there are more than one ID, we
-		// should log this error but shouldn't halt the application.
-		grpclog.Warning("invalid SPIFFE ID: multiple SPIFFE IDs")
-		return nil, nil
+		// A valid SPIFFE certificate can only have exactly one URI SAN field.
+		if spiffeIDFound && len(state.PeerCertificates[0].URIs) > 1 {
+			grpclog.Warning("invalid SPIFFE ID: multiple URI SANs")
+			return nil
+		}
+		spiffeID = uri
+		spiffeIDFound = true
 	}
-	// SPIFFE ID is not used.
-	return nil, nil
+	return spiffeID
 }
diff --git a/internal/credentials/go110_test.go b/internal/credentials/go110_test.go
index 5fb4b3296103..1e03dcdb5fb8 100644
--- a/internal/credentials/go110_test.go
+++ b/internal/credentials/go110_test.go
@@ -41,16 +41,13 @@ func (s) TestSPIFFEIDFromState(t *testing.T) {
 	tests := []struct {
 		name string
 		urls []*url.URL
-		// If we expect SPIFFEIDFromState to return an error.
-		expectError bool
 		// If we expect a SPIFFE ID to be returned.
 		expectID bool
 	}{
 		{
-			name:        "empty URIs",
-			urls:        []*url.URL{},
-			expectError: false,
-			expectID:    false,
+			name:     "empty URIs",
+			urls:     []*url.URL{},
+			expectID: false,
 		},
 		{
 			name: "good SPIFFE ID",
@@ -61,15 +58,8 @@ func (s) TestSPIFFEIDFromState(t *testing.T) {
 					Path:    "workload/wl1",
 					RawPath: "workload/wl1",
 				},
-				{
-					Scheme:  "https",
-					Host:    "foo.bar.com",
-					Path:    "workload/wl1",
-					RawPath: "workload/wl1",
-				},
 			},
-			expectError: false,
-			expectID:    true,
+			expectID: true,
 		},
 		{
 			name: "invalid host",
@@ -81,8 +71,7 @@ func (s) TestSPIFFEIDFromState(t *testing.T) {
 					RawPath: "workload/wl1",
 				},
 			},
-			expectError: true,
-			expectID:    false,
+			expectID: false,
 		},
 		{
 			name: "invalid path",
@@ -94,8 +83,7 @@ func (s) TestSPIFFEIDFromState(t *testing.T) {
 					RawPath: "",
 				},
 			},
-			expectError: true,
-			expectID:    false,
+			expectID: false,
 		},
 		{
 			name: "large path",
@@ -107,8 +95,7 @@ func (s) TestSPIFFEIDFromState(t *testing.T) {
 					RawPath: string(make([]byte, 2050)),
 				},
 			},
-			expectError: true,
-			expectID:    false,
+			expectID: false,
 		},
 		{
 			name: "large host",
@@ -120,11 +107,10 @@ func (s) TestSPIFFEIDFromState(t *testing.T) {
 					RawPath: "workload/wl1",
 				},
 			},
-			expectError: true,
-			expectID:    false,
+			expectID: false,
 		},
 		{
-			name: "multiple SPIFFE IDs",
+			name: "multiple URI SANs with SPIFFE ID",
 			urls: []*url.URL{
 				{
 					Scheme:  "spiffe",
@@ -138,18 +124,38 @@ func (s) TestSPIFFEIDFromState(t *testing.T) {
 					Path:    "workload/wl2",
 					RawPath: "workload/wl2",
 				},
+				{
+					Scheme:  "https",
+					Host:    "foo.bar.com",
+					Path:    "workload/wl1",
+					RawPath: "workload/wl1",
+				},
+			},
+			expectID: false,
+		},
+		{
+			name: "multiple URI SANs without SPIFFE ID",
+			urls: []*url.URL{
+				{
+					Scheme:  "https",
+					Host:    "foo.bar.com",
+					Path:    "workload/wl1",
+					RawPath: "workload/wl1",
+				},
+				{
+					Scheme:  "ssh",
+					Host:    "foo.bar.com",
+					Path:    "workload/wl1",
+					RawPath: "workload/wl1",
+				},
 			},
-			expectError: false,
-			expectID:    false,
+			expectID: false,
 		},
 	}
 	for _, tt := range tests {
 		t.Run(tt.name, func(t *testing.T) {
 			state := tls.ConnectionState{PeerCertificates: []*x509.Certificate{{URIs: tt.urls}}}
-			id, err := SPIFFEIDFromState(state)
-			if got, want := err != nil, tt.expectError; got != want {
-				t.Errorf("want expectError = %v, but got expectError = %v, with error %v", want, got, err)
-			}
+			id := SPIFFEIDFromState(state)
 			if got, want := id != nil, tt.expectID; got != want {
 				t.Errorf("want expectID = %v, but SPIFFE ID is %v", want, id)
 			}
diff --git a/internal/credentials/gobefore110.go b/internal/credentials/gobefore110.go
index 0356fb4f3707..4ca8dcf26b79 100644
--- a/internal/credentials/gobefore110.go
+++ b/internal/credentials/gobefore110.go
@@ -26,6 +26,6 @@ import (
 )
 
 //TODO(ZhenLian): delete this file when we remove Go 1.9 tests.
-func SPIFFEIDFromState(state tls.ConnectionState) (*url.URL, error) {
+func SPIFFEIDFromState(state tls.ConnectionState) *url.URL {
 	return nil, nil
 }