diff --git a/sql/catalyst/src/main/scala/org/apache/spark/sql/catalyst/json/JacksonGenerator.scala b/sql/catalyst/src/main/scala/org/apache/spark/sql/catalyst/json/JacksonGenerator.scala
index eb06e4f304f0..56fe9a01f0c6 100644
--- a/sql/catalyst/src/main/scala/org/apache/spark/sql/catalyst/json/JacksonGenerator.scala
+++ b/sql/catalyst/src/main/scala/org/apache/spark/sql/catalyst/json/JacksonGenerator.scala
@@ -171,8 +171,10 @@ private[sql] class JacksonGenerator(
     var i = 0
     while (i < row.numFields) {
       val field = schema(i)
-      if (!row.isNullAt(i)) {
-        gen.writeFieldName(field.name)
+      gen.writeFieldName(field.name)
+      if (row.isNullAt(i)) {
+        gen.writeNull()
+      } else {
         fieldWriters(i).apply(row, i)
       }
       i += 1
diff --git a/sql/catalyst/src/test/scala/org/apache/spark/sql/catalyst/expressions/JsonExpressionsSuite.scala b/sql/catalyst/src/test/scala/org/apache/spark/sql/catalyst/expressions/JsonExpressionsSuite.scala
index 7812319756ea..d3ae11f42e7f 100644
--- a/sql/catalyst/src/test/scala/org/apache/spark/sql/catalyst/expressions/JsonExpressionsSuite.scala
+++ b/sql/catalyst/src/test/scala/org/apache/spark/sql/catalyst/expressions/JsonExpressionsSuite.scala
@@ -556,7 +556,7 @@ class JsonExpressionsSuite extends SparkFunSuite with ExpressionEvalHelper with
   test("to_json - array with single empty row") {
     val inputSchema = ArrayType(StructType(StructField("a", IntegerType) :: Nil))
     val input = new GenericArrayData(InternalRow(null) :: Nil)
-    val output = """[{}]"""
+    val output = """[{"a":null}]"""
     checkEvaluation(
       StructsToJson(Map.empty, Literal.create(input, inputSchema), gmtId),
       output)
diff --git a/sql/catalyst/src/test/scala/org/apache/spark/sql/catalyst/json/JacksonGeneratorSuite.scala b/sql/catalyst/src/test/scala/org/apache/spark/sql/catalyst/json/JacksonGeneratorSuite.scala
index 9b27490ed0e3..d2293a4c1b6c 100644
--- a/sql/catalyst/src/test/scala/org/apache/spark/sql/catalyst/json/JacksonGeneratorSuite.scala
+++ b/sql/catalyst/src/test/scala/org/apache/spark/sql/catalyst/json/JacksonGeneratorSuite.scala
@@ -56,7 +56,7 @@ class JacksonGeneratorSuite extends SparkFunSuite {
     val gen = new JacksonGenerator(dataType, writer, option)
     gen.write(input)
     gen.flush()
-    assert(writer.toString === """[{}]""")
+    assert(writer.toString === """[{"a":null}]""")
   }
 
   test("initial with StructType and write out an empty array") {
diff --git a/sql/core/src/test/scala/org/apache/spark/sql/execution/datasources/json/JsonSuite.scala b/sql/core/src/test/scala/org/apache/spark/sql/execution/datasources/json/JsonSuite.scala
index 8c8d41ebf115..bb12197fa481 100644
--- a/sql/core/src/test/scala/org/apache/spark/sql/execution/datasources/json/JsonSuite.scala
+++ b/sql/core/src/test/scala/org/apache/spark/sql/execution/datasources/json/JsonSuite.scala
@@ -1229,7 +1229,7 @@ class JsonSuite extends QueryTest with SharedSQLContext with TestJsonData {
     val df2 = df1.toDF
     val result = df2.toJSON.collect()
     // scalastyle:off
-    assert(result(0) === "{\"f1\":1,\"f2\":\"A1\",\"f3\":true,\"f4\":[\"1\",\" A1\",\" true\",\" null\"]}")
+    assert(result(0) === "{\"f1\":1,\"f2\":\"A1\",\"f3\":true,\"f4\":[\"1\",\" A1\",\" true\",\" null\"],\"f5\":null}")
     assert(result(3) === "{\"f1\":4,\"f2\":\"D4\",\"f3\":true,\"f4\":[\"4\",\" D4\",\" true\",\" 2147483644\"],\"f5\":2147483644}")
     // scalastyle:on
 
@@ -1265,6 +1265,7 @@ class JsonSuite extends QueryTest with SharedSQLContext with TestJsonData {
         1.7976931348623157E308,
         10,
         21474836470L,
+        null,
         "this is a simple string.")
       )
 
@@ -2063,4 +2064,11 @@ class JsonSuite extends QueryTest with SharedSQLContext with TestJsonData {
       )
     }
   }
+
+  test("SPARK-23773: JacksonGenerator does not include keys " +
+    "that have null value for StructTypes") {
+    val df = sql("select NAMED_STRUCT('f1', 10, 'f2', null, 'f3', 15) as my_struct")
+    val result = df.toJSON.collect()(0)
+    assert(result === "{\"my_struct\":{\"f1\":10,\"f2\":null,\"f3\":15}}")
+  }
 }