Uber Australia managing director Dom Taylor said the agreement balanced the flexibility of gig work with greater protections for drivers.
"What we are trying to do is improve the quality of independent work for rideshare drivers and online food delivery drivers," he said. .
The Statement of Principles would see Uber and the TWU work together to directly lobby the federal government to reform industrial relations law to enshrine protections for gig workers.
The rideshare giant and the union will also back the creation of an independent federal body that would enforce minimum earnings protections and conditions for all gig workers.
The new federal government and the NSW government have both flagged the need for industrial relations reform to better protect gig workers