diff --git a/CHANGELOG.md b/CHANGELOG.md
index 8a4de30776..ed7726960e 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -17,6 +17,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
   ([#3100](https://github.com/open-telemetry/opentelemetry-python-contrib/pull/3100))
 - Add support to database stability opt-in in `_semconv` utilities and add tests
   ([#3111](https://github.com/open-telemetry/opentelemetry-python-contrib/pull/3111))
+- `opentelemetry-instrumentation-urllib3` Add `py.typed` file to enable PEP 561
+  ([#3130](https://github.com/open-telemetry/opentelemetry-python-contrib/pull/3130))
 - `opentelemetry-instrumentation-system-metrics` Add `py.typed` file to enable PEP 561
   ([#3132](https://github.com/open-telemetry/opentelemetry-python-contrib/pull/3132))
 - `opentelemetry-opentelemetry-sqlite3` Add `py.typed` file to enable PEP 561
diff --git a/instrumentation/opentelemetry-instrumentation-urllib3/src/opentelemetry/instrumentation/urllib3/__init__.py b/instrumentation/opentelemetry-instrumentation-urllib3/src/opentelemetry/instrumentation/urllib3/__init__.py
index 2d1cf4c1b0..8abe397ea2 100644
--- a/instrumentation/opentelemetry-instrumentation-urllib3/src/opentelemetry/instrumentation/urllib3/__init__.py
+++ b/instrumentation/opentelemetry-instrumentation-urllib3/src/opentelemetry/instrumentation/urllib3/__init__.py
@@ -83,15 +83,19 @@ def response_hook(
 ---
 """
 
+from __future__ import annotations
+
 import collections.abc
 import io
 import typing
 from dataclasses import dataclass
 from timeit import default_timer
-from typing import Collection
+from typing import Any, Callable, Collection, Mapping, Optional
 
 import urllib3.connectionpool
 import wrapt
+from urllib3.connectionpool import HTTPConnectionPool
+from urllib3.response import HTTPResponse
 
 from opentelemetry.instrumentation._semconv import (
     _client_duration_attrs_new,
@@ -151,32 +155,16 @@ class RequestInfo:
     # The type annotations here come from ``HTTPConnectionPool.urlopen()``.
     method: str
     url: str
-    headers: typing.Optional[typing.Mapping[str, str]]
-    body: typing.Union[
-        bytes, typing.IO[typing.Any], typing.Iterable[bytes], str, None
-    ]
-
-
-_UrlFilterT = typing.Optional[typing.Callable[[str], str]]
-_RequestHookT = typing.Optional[
-    typing.Callable[
-        [
-            Span,
-            urllib3.connectionpool.HTTPConnectionPool,
-            RequestInfo,
-        ],
-        None,
-    ]
+    headers: Mapping[str, str] | None
+    body: bytes | typing.IO[typing.Any] | typing.Iterable[bytes] | str | None
+
+
+_UrlFilterT = Optional[Callable[[str], str]]
+_RequestHookT = Optional[
+    Callable[[Span, HTTPConnectionPool, RequestInfo], None]
 ]
-_ResponseHookT = typing.Optional[
-    typing.Callable[
-        [
-            Span,
-            urllib3.connectionpool.HTTPConnectionPool,
-            urllib3.response.HTTPResponse,
-        ],
-        None,
-    ]
+_ResponseHookT = Optional[
+    Callable[[Span, HTTPConnectionPool, HTTPResponse], None]
 ]
 
 _URL_OPEN_ARG_TO_INDEX_MAPPING = {
@@ -190,7 +178,7 @@ class URLLib3Instrumentor(BaseInstrumentor):
     def instrumentation_dependencies(self) -> Collection[str]:
         return _instruments
 
-    def _instrument(self, **kwargs):
+    def _instrument(self, **kwargs: Any):
         """Instruments the urllib3 module
 
         Args:
@@ -286,7 +274,7 @@ def _instrument(self, **kwargs):
             sem_conv_opt_in_mode=sem_conv_opt_in_mode,
         )
 
-    def _uninstrument(self, **kwargs):
+    def _uninstrument(self, **kwargs: Any):
         _uninstrument()
 
 
@@ -308,10 +296,15 @@ def _instrument(
     request_hook: _RequestHookT = None,
     response_hook: _ResponseHookT = None,
     url_filter: _UrlFilterT = None,
-    excluded_urls: ExcludeList = None,
+    excluded_urls: ExcludeList | None = None,
     sem_conv_opt_in_mode: _StabilityMode = _StabilityMode.DEFAULT,
 ):
-    def instrumented_urlopen(wrapped, instance, args, kwargs):
+    def instrumented_urlopen(
+        wrapped: Callable[..., HTTPResponse],
+        instance: HTTPConnectionPool,
+        args: list[Any],
+        kwargs: dict[str, Any],
+    ):
         if not is_http_instrumentation_enabled():
             return wrapped(*args, **kwargs)
 
@@ -397,7 +390,9 @@ def instrumented_urlopen(wrapped, instance, args, kwargs):
     )
 
 
-def _get_url_open_arg(name: str, args: typing.List, kwargs: typing.Mapping):
+def _get_url_open_arg(
+    name: str, args: list[Any], kwargs: typing.Mapping[str, Any]
+):
     arg_idx = _URL_OPEN_ARG_TO_INDEX_MAPPING.get(name)
     if arg_idx is not None:
         try:
@@ -408,9 +403,9 @@ def _get_url_open_arg(name: str, args: typing.List, kwargs: typing.Mapping):
 
 
 def _get_url(
-    instance: urllib3.connectionpool.HTTPConnectionPool,
-    args: typing.List,
-    kwargs: typing.Mapping,
+    instance: HTTPConnectionPool,
+    args: list[Any],
+    kwargs: typing.Mapping[str, Any],
     url_filter: _UrlFilterT,
 ) -> str:
     url_or_path = _get_url_open_arg("url", args, kwargs)
@@ -427,7 +422,7 @@ def _get_url(
     return url
 
 
-def _get_body_size(body: object) -> typing.Optional[int]:
+def _get_body_size(body: object) -> int | None:
     if body is None:
         return 0
     if isinstance(body, collections.abc.Sized):
@@ -437,7 +432,7 @@ def _get_body_size(body: object) -> typing.Optional[int]:
     return None
 
 
-def _should_append_port(scheme: str, port: typing.Optional[int]) -> bool:
+def _should_append_port(scheme: str, port: int | None) -> bool:
     if not port:
         return False
     if scheme == "http" and port == 80:
@@ -447,7 +442,7 @@ def _should_append_port(scheme: str, port: typing.Optional[int]) -> bool:
     return True
 
 
-def _prepare_headers(urlopen_kwargs: typing.Dict) -> typing.Dict:
+def _prepare_headers(urlopen_kwargs: dict[str, Any]) -> dict[str, Any]:
     headers = urlopen_kwargs.get("headers")
 
     # avoid modifying original headers on inject
@@ -460,7 +455,7 @@ def _prepare_headers(urlopen_kwargs: typing.Dict) -> typing.Dict:
 def _set_status_code_attribute(
     span: Span,
     status_code: int,
-    metric_attributes: dict = None,
+    metric_attributes: dict[str, Any] | None = None,
     sem_conv_opt_in_mode: _StabilityMode = _StabilityMode.DEFAULT,
 ) -> None:
     status_code_str = str(status_code)
@@ -483,9 +478,9 @@ def _set_status_code_attribute(
 
 
 def _set_metric_attributes(
-    metric_attributes: dict,
-    instance: urllib3.connectionpool.HTTPConnectionPool,
-    response: urllib3.response.HTTPResponse,
+    metric_attributes: dict[str, Any],
+    instance: HTTPConnectionPool,
+    response: HTTPResponse,
     method: str,
     sem_conv_opt_in_mode: _StabilityMode = _StabilityMode.DEFAULT,
 ) -> None:
@@ -515,9 +510,9 @@ def _set_metric_attributes(
 
 
 def _filter_attributes_semconv(
-    metric_attributes,
+    metric_attributes: dict[str, object],
     sem_conv_opt_in_mode: _StabilityMode = _StabilityMode.DEFAULT,
-):
+) -> tuple[dict[str, object] | None, dict[str, object] | None]:
     duration_attrs_old = None
     duration_attrs_new = None
     if _report_old(sem_conv_opt_in_mode):
@@ -539,7 +534,7 @@ def _filter_attributes_semconv(
 
 
 def _record_metrics(
-    metric_attributes: dict,
+    metric_attributes: dict[str, object],
     duration_histogram_old: Histogram,
     duration_histogram_new: Histogram,
     request_size_histogram_old: Histogram,
diff --git a/instrumentation/opentelemetry-instrumentation-urllib3/src/opentelemetry/instrumentation/urllib3/py.typed b/instrumentation/opentelemetry-instrumentation-urllib3/src/opentelemetry/instrumentation/urllib3/py.typed
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/util/opentelemetry-util-http/src/opentelemetry/util/http/__init__.py b/util/opentelemetry-util-http/src/opentelemetry/util/http/__init__.py
index f5dacf0fff..83db1c5c7a 100644
--- a/util/opentelemetry-util-http/src/opentelemetry/util/http/__init__.py
+++ b/util/opentelemetry-util-http/src/opentelemetry/util/http/__init__.py
@@ -19,7 +19,7 @@
 from re import IGNORECASE as RE_IGNORECASE
 from re import compile as re_compile
 from re import search
-from typing import Callable, Iterable, Optional
+from typing import Callable, Iterable, Optional, overload
 from urllib.parse import urlparse, urlunparse
 
 from opentelemetry.semconv.trace import SpanAttributes
@@ -193,6 +193,14 @@ def normalise_response_header_name(header: str) -> str:
     return f"http.response.header.{key}"
 
 
+@overload
+def sanitize_method(method: str) -> str: ...
+
+
+@overload
+def sanitize_method(method: None) -> None: ...
+
+
 def sanitize_method(method: Optional[str]) -> Optional[str]:
     if method is None:
         return None