diff --git a/cbor/src/main/java/com/fasterxml/jackson/dataformat/cbor/CBORParser.java b/cbor/src/main/java/com/fasterxml/jackson/dataformat/cbor/CBORParser.java
index 6245729bd..23a831b3e 100644
--- a/cbor/src/main/java/com/fasterxml/jackson/dataformat/cbor/CBORParser.java
+++ b/cbor/src/main/java/com/fasterxml/jackson/dataformat/cbor/CBORParser.java
@@ -754,6 +754,9 @@ public JsonToken nextToken() throws IOException
                 return (_currToken = JsonToken.VALUE_TRUE);
             case 22:
                 return (_currToken = JsonToken.VALUE_NULL);
+            case 23:
+                return (_currToken = _decodeUndefinedValue());
+                
             case 25: // 16-bit float... 
                 // As per [http://stackoverflow.com/questions/5678432/decompressing-half-precision-floats-in-javascript]
                 {
@@ -1229,6 +1232,10 @@ public String nextTextValue() throws IOException
             case 22:
                 _currToken = JsonToken.VALUE_NULL;
                 return null;
+            case 23:
+                _currToken = _decodeUndefinedValue();
+                return null;
+
             case 25: // 16-bit float... 
                 // As per [http://stackoverflow.com/questions/5678432/decompressing-half-precision-floats-in-javascript]
                 {
@@ -2888,6 +2895,20 @@ private final static long _long(int i1, int i2)
         return (l1 << 32) + l2;
     }
 
+    /**
+     * Helper method to encapsulate details of handling of mysterious `undefined` value
+     * that is allowed to be used as something encoder could not handle (as per spec),
+     * whatever the heck that should be.
+     * Current definition for 2.9 is that we will be return {@link JsonToken#VALUE_NULL}, but
+     * for later versions it is likely that we will alternatively allow decoding as
+     * {@link JsonToken#VALUE_EMBEDDED_OBJECT} with "embedded value" of `null`.
+     *
+     * @since 2.9.6
+     */
+    protected JsonToken _decodeUndefinedValue() throws IOException {
+        return JsonToken.VALUE_NULL;
+    }
+
     /*
     /**********************************************************
     /* Internal methods, UTF8 decoding
diff --git a/cbor/src/test/java/com/fasterxml/jackson/dataformat/cbor/parse/UndefinedValueTest.java b/cbor/src/test/java/com/fasterxml/jackson/dataformat/cbor/parse/UndefinedValueTest.java
new file mode 100644
index 000000000..d39d79fd7
--- /dev/null
+++ b/cbor/src/test/java/com/fasterxml/jackson/dataformat/cbor/parse/UndefinedValueTest.java
@@ -0,0 +1,64 @@
+package com.fasterxml.jackson.dataformat.cbor.parse;
+
+import java.io.ByteArrayOutputStream;
+
+import com.fasterxml.jackson.core.JsonParser;
+import com.fasterxml.jackson.core.JsonToken;
+import com.fasterxml.jackson.dataformat.cbor.CBORConstants;
+import com.fasterxml.jackson.dataformat.cbor.CBORFactory;
+import com.fasterxml.jackson.dataformat.cbor.CBORGenerator;
+import com.fasterxml.jackson.dataformat.cbor.CBORTestBase;
+
+// for [dataformat-binary#93]
+public class UndefinedValueTest extends CBORTestBase
+{
+    private final static byte BYTE_UNDEFINED = (byte) 0xF7;
+
+    private final CBORFactory CBOR_F = cborFactory();
+
+    public void testUndefinedLiteralStreaming() throws Exception
+    {
+        JsonParser p = cborParser(CBOR_F, new byte[] { BYTE_UNDEFINED });
+        assertEquals(JsonToken.VALUE_NULL, p.nextToken());
+        assertNull(p.nextToken());
+        p.close();
+    }
+
+    public void testUndefinedInArray() throws Exception
+    {
+        ByteArrayOutputStream out = new ByteArrayOutputStream();
+        out.write(CBORConstants.BYTE_ARRAY_INDEFINITE);
+        out.write(BYTE_UNDEFINED);
+        out.write(CBORConstants.BYTE_BREAK);
+        JsonParser p = cborParser(CBOR_F, out.toByteArray());
+        assertEquals(JsonToken.START_ARRAY, p.nextToken());
+        assertEquals(JsonToken.VALUE_NULL, p.nextToken());
+        assertEquals(JsonToken.END_ARRAY, p.nextToken());
+        assertNull(p.nextToken());
+        p.close();
+    }
+
+    public void testUndefinedInObject() throws Exception
+    {
+        ByteArrayOutputStream out = new ByteArrayOutputStream();
+        CBORGenerator g = cborGenerator(out);
+        g.writeStartObject();
+        g.writeFieldName("bar");
+        g.writeBoolean(true);
+        g.writeEndObject();
+        g.close();
+
+        byte[] doc = out.toByteArray();
+        // assume we use end marker for Object, so
+        doc[doc.length-2] = BYTE_UNDEFINED;
+        
+        JsonParser p = cborParser(CBOR_F, doc);
+        assertEquals(JsonToken.START_OBJECT, p.nextToken());
+        assertEquals(JsonToken.FIELD_NAME, p.nextToken());
+        assertEquals("bar", p.currentName());
+        assertEquals(JsonToken.VALUE_NULL, p.nextToken());
+        assertEquals(JsonToken.END_OBJECT, p.nextToken());
+        assertNull(p.nextToken());
+        p.close();
+    }
+}
diff --git a/release-notes/VERSION b/release-notes/VERSION
index ec8839fb6..3df39641c 100644
--- a/release-notes/VERSION
+++ b/release-notes/VERSION
@@ -1,5 +1,4 @@
-Project: jackson-datatypes-binary
-Modules:
+Project: jackson-datatypes-binaryModules:
   jackson-dataformat-avro
   jackson-dataformat-cbor
   jackson-dataformat-protobuf
@@ -11,6 +10,8 @@ Modules:
 
 2.9.6 (not yet released)
 
+#93: (cbor) `CBORParser` does not accept "undefined value"
+ (reported by mbaril@github)
 #135: (protobuf) Infinite sequence of `END_OBJECT` tokens returned at end of streaming read
  (reported by Leo W)
 #136: (avro) Fix MapWriteContext not correctly resolving union values