The Apollo-type near-Earth asteroid (155140) 2005 UD is thought to be a member of the Phaethon-Geminid meteor stream Complex (PGC). Its basic physical parameters are important for unveiling its origin and its relationship to the other PGC members as well as to the Geminid stream. Adopting the Lommel-Seeliger ellipsoid method and H, G1, G2 phase function, we carry out spin, shape, and phase curve inversion using the photometric data of 2005 UD. The data consists of 11 new lightcurves, 3 lightcurves downloaded from the Minor Planet Center, and 288 sparse data points downloaded from the Zwicky Transient Facility database. As a result, we derive the pole solution of (285^∘.8−5.3^+1.1, −25^∘.8−12.5^+5.3) in the ecliptic frame of J2000.0 with the rotational period of 5.2340−0.00001^+0.00004 h. The corresponding triaxial shape (semiaxes a > b ​> ​c) is estimated as b/a=0.76−0.01^+0.01 and c/a=0.40−0.01^+0.03. Using the calibrated photometric data of 2005 UD, the phase function parameters H, G1, G2 are estimated as 17.22−0.03^+0.03 mag, 0.61−0.02^+0.02, and −0.006−0.006^+0.006, respectively. Correspondingly, the phase integral q, photometric phase coefficient k, and the enhancement factor ζ are 0.2508, −1.9224, and 1.6642. From the values of G1 and G2, 2005 UD is likely to be a C-type asteroid. We estimate the equivalent diameter of 2005 UD from the new H-value: it is 1.28 ​± ​0.02 ​km using its new geometric albedo of 0.14.