diff --git a/packages/google-auth/setup.py b/packages/google-auth/setup.py
index c9976a301cb5..3e5b010febd5 100644
--- a/packages/google-auth/setup.py
+++ b/packages/google-auth/setup.py
@@ -42,10 +42,14 @@
 
 rsa_extra_require = ["rsa>=3.1.4,<5"]
 
+grpc_extra_require = [
+    "grpcio >= 1.59.0, < 2.0.0; python_version < '3.14'",
+    "grpcio >= 1.75.1, < 2.0.0; python_version >= '3.14'",
+]
+
 # Unit test requirements.
 testing_extra_require = [
-    # TODO(https://github.com/googleapis/google-auth-library-python/issues/1735): Remove `grpcio` from testing requirements once an extra is added for `grpcio` dependency.
-    "grpcio",
+    *grpc_extra_require,
     "flask",
     "freezegun",
     *pyjwt_extra_require,
@@ -77,8 +81,7 @@
     "testing": testing_extra_require,
     "urllib3": urllib3_extra_require,
     "rsa": rsa_extra_require,
-    # TODO(https://github.com/googleapis/google-auth-library-python/issues/1735): Add an extra for `grpcio` dependency.
-    # TODO(https://github.com/googleapis/google-auth-library-python/issues/1736): Add an extra for `oauth2client` dependency.
+    "grpc": grpc_extra_require,
 }
 
 with io.open("README.rst", "r") as fh:
diff --git a/packages/google-auth/testing/constraints-3.10.txt b/packages/google-auth/testing/constraints-3.10.txt
index 31094f0391cb..a01df7144a17 100644
--- a/packages/google-auth/testing/constraints-3.10.txt
+++ b/packages/google-auth/testing/constraints-3.10.txt
@@ -10,4 +10,5 @@ setuptools==40.3.0
 cryptography==38.0.3
 aiohttp==3.8.0
 requests==2.20.0
-pyjwt==2.0
\ No newline at end of file
+pyjwt==2.0
+grpcio==1.59.0
\ No newline at end of file