diff --git a/Migration.md b/Migration.md
index 0029c6f84..90cb8dda4 100644
--- a/Migration.md
+++ b/Migration.md
@@ -221,6 +221,10 @@ but with improved human-readability..
 
 ## SDF protocol 1.7 to 1.8
 
+### Modifications
+
+1. **joint.sdf** `child` and `parent` elements accept frame names instead of only link names
+
 ### Deprecations
 
 1. **joint.sdf** `initial_position` element in `<joint><axis>` and `<joint><axis2>` is deprecated
diff --git a/sdf/1.8/joint.sdf b/sdf/1.8/joint.sdf
index 42a8cfe99..f58fa75fd 100644
--- a/sdf/1.8/joint.sdf
+++ b/sdf/1.8/joint.sdf
@@ -21,11 +21,11 @@
   </attribute>
 
   <element name="parent" type="string" default="__default__" required="1">
-    <description>Name of the parent link or "world".</description>
+    <description>Name of the parent frame or "world".</description>
   </element> <!-- End Parent -->
 
   <element name="child" type="string" default="__default__" required="1">
-    <description>Name of the child link. The value "world" may not be specified.</description>
+    <description>Name of the child frame. The value "world" may not be specified.</description>
   </element> <!-- End Child -->
 
   <element name="gearbox_ratio" type="double" default="1.0" required="0">