diff --git a/docs/sql-migration-guide-upgrade.md b/docs/sql-migration-guide-upgrade.md
index 07079d93f25b6..1d804acd55149 100644
--- a/docs/sql-migration-guide-upgrade.md
+++ b/docs/sql-migration-guide-upgrade.md
@@ -18,6 +18,8 @@ displayTitle: Spark SQL Upgrading Guide
   - The `ADD JAR` command previously returned a result set with the single value 0. It now returns an empty result set.
 
   - In Spark version 2.4 and earlier, users can create map values with map type key via built-in function like `CreateMap`, `MapFromArrays`, etc. Since Spark 3.0, it's not allowed to create map values with map type key with these built-in functions. Users can still read map values with map type key from data source or Java/Scala collections, though they are not very useful.
+  
+  - In Spark version 2.4 and earlier, `Dataset.groupByKey` results to a grouped dataset with key attribute wrongly named as "value", if the key is non-struct type, e.g. int, string, array, etc. This is counterintuitive and makes the schema of aggregation queries weird. For example, the schema of `ds.groupByKey(...).count()` is `(value, count)`. Since Spark 3.0, we name the grouping attribute to "key". The old behaviour is preserved under a newly added configuration `spark.sql.legacy.dataset.nameNonStructGroupingKeyAsValue` with a default value of `false`.
 
 ## Upgrading From Spark SQL 2.3 to 2.4
 
diff --git a/sql/catalyst/src/main/scala/org/apache/spark/sql/internal/SQLConf.scala b/sql/catalyst/src/main/scala/org/apache/spark/sql/internal/SQLConf.scala
index cc0e9727812db..7bcf21595ce5a 100644
--- a/sql/catalyst/src/main/scala/org/apache/spark/sql/internal/SQLConf.scala
+++ b/sql/catalyst/src/main/scala/org/apache/spark/sql/internal/SQLConf.scala
@@ -1595,6 +1595,15 @@ object SQLConf {
       .booleanConf
       .createWithDefault(false)
 
+  val NAME_NON_STRUCT_GROUPING_KEY_AS_VALUE =
+    buildConf("spark.sql.legacy.dataset.nameNonStructGroupingKeyAsValue")
+      .internal()
+      .doc("When set to true, the key attribute resulted from running `Dataset.groupByKey` " +
+        "for non-struct key type, will be named as `value`, following the behavior of Spark " +
+        "version 2.4 and earlier.")
+      .booleanConf
+      .createWithDefault(false)
+
   val MAX_TO_STRING_FIELDS = buildConf("spark.sql.debug.maxToStringFields")
     .doc("Maximum number of fields of sequence-like entries can be converted to strings " +
       "in debug output. Any elements beyond the limit will be dropped and replaced by a" +
@@ -2016,6 +2025,9 @@ class SQLConf extends Serializable with Logging {
 
   def integralDivideReturnLong: Boolean = getConf(SQLConf.LEGACY_INTEGRALDIVIDE_RETURN_LONG)
 
+  def nameNonStructGroupingKeyAsValue: Boolean =
+    getConf(SQLConf.NAME_NON_STRUCT_GROUPING_KEY_AS_VALUE)
+
   def maxToStringFields: Int = getConf(SQLConf.MAX_TO_STRING_FIELDS)
 
   /** ********************** SQLConf functionality methods ************ */
diff --git a/sql/core/src/main/scala/org/apache/spark/sql/KeyValueGroupedDataset.scala b/sql/core/src/main/scala/org/apache/spark/sql/KeyValueGroupedDataset.scala
index 7a47242f69381..2d849c65997a7 100644
--- a/sql/core/src/main/scala/org/apache/spark/sql/KeyValueGroupedDataset.scala
+++ b/sql/core/src/main/scala/org/apache/spark/sql/KeyValueGroupedDataset.scala
@@ -26,6 +26,7 @@ import org.apache.spark.sql.catalyst.expressions.{Alias, Attribute, CreateStruct
 import org.apache.spark.sql.catalyst.plans.logical._
 import org.apache.spark.sql.execution.QueryExecution
 import org.apache.spark.sql.expressions.ReduceAggregator
+import org.apache.spark.sql.internal.SQLConf
 import org.apache.spark.sql.streaming.{GroupState, GroupStateTimeout, OutputMode}
 
 /**
@@ -459,7 +460,11 @@ class KeyValueGroupedDataset[K, V] private[sql](
       columns.map(_.withInputType(vExprEnc, dataAttributes).named)
     val keyColumn = if (!kExprEnc.isSerializedAsStruct) {
       assert(groupingAttributes.length == 1)
-      groupingAttributes.head
+      if (SQLConf.get.nameNonStructGroupingKeyAsValue) {
+        groupingAttributes.head
+      } else {
+        Alias(groupingAttributes.head, "key")()
+      }
     } else {
       Alias(CreateStruct(groupingAttributes), "key")()
     }
diff --git a/sql/core/src/test/scala/org/apache/spark/sql/DatasetSuite.scala b/sql/core/src/test/scala/org/apache/spark/sql/DatasetSuite.scala
index 540fbff6a3a63..baece2ddac7eb 100644
--- a/sql/core/src/test/scala/org/apache/spark/sql/DatasetSuite.scala
+++ b/sql/core/src/test/scala/org/apache/spark/sql/DatasetSuite.scala
@@ -1572,6 +1572,16 @@ class DatasetSuite extends QueryTest with SharedSQLContext {
     checkDatasetUnorderly(agg, ((1, 2), 1L, 3L), ((2, 3), 2L, 4L), ((3, 4), 3L, 5L))
   }
 
+  test("SPARK-26085: fix key attribute name for atomic type for typed aggregation") {
+    val ds = Seq(1, 2, 3).toDS()
+    assert(ds.groupByKey(x => x).count().schema.head.name == "key")
+
+    // Enable legacy flag to follow previous Spark behavior
+    withSQLConf(SQLConf.NAME_NON_STRUCT_GROUPING_KEY_AS_VALUE.key -> "true") {
+      assert(ds.groupByKey(x => x).count().schema.head.name == "value")
+    }
+  }
+
   test("SPARK-8288: class with only a companion object constructor") {
     val data = Seq(ScroogeLikeExample(1), ScroogeLikeExample(2))
     val ds = data.toDS