How to configure rsyslogd to emit rfc5424 messages?

I want to configure my Linux machine using rsyslogd with the simplest yet standard way. I'll save all the logs to /var/log/syslog with rotation. From my research it looks like the standard syslog format is defined by rfc5424, and I assume rsyslogd supports that format out of the box. Yet I can't find any built-in template for rfc5424 in the rsyslogd documentation. So how can I configure my rsyslogd for rfc5424 format?