diff --git a/cpp/cmake_modules/ThirdpartyToolchain.cmake b/cpp/cmake_modules/ThirdpartyToolchain.cmake
index 32af0a00ad1..5b560591235 100644
--- a/cpp/cmake_modules/ThirdpartyToolchain.cmake
+++ b/cpp/cmake_modules/ThirdpartyToolchain.cmake
@@ -1530,6 +1530,9 @@ if(ARROW_WITH_PROTOBUF)
     # google::protobuf::MessageLite::ByteSize() is deprecated since
     # Protobuf 3.4.0.
     set(ARROW_PROTOBUF_REQUIRED_VERSION "3.4.0")
+  elseif(ARROW_ENGINE)
+    # Substrait protobuf files use proto3 syntax
+    set(ARROW_PROTOBUF_REQUIRED_VERSION "3.0.0")
   else()
     set(ARROW_PROTOBUF_REQUIRED_VERSION "2.6.1")
   endif()
diff --git a/cpp/src/arrow/engine/CMakeLists.txt b/cpp/src/arrow/engine/CMakeLists.txt
index a1099b80653..9593baed27a 100644
--- a/cpp/src/arrow/engine/CMakeLists.txt
+++ b/cpp/src/arrow/engine/CMakeLists.txt
@@ -66,6 +66,8 @@ if(MSVC)
   list(APPEND SUBSTRAIT_SUPPRESSED_WARNINGS "/wd4251")
 endif()
 
+file(MAKE_DIRECTORY "${SUBSTRAIT_GEN_DIR}/substrait")
+
 set(SUBSTRAIT_PROTO_GEN_ALL)
 foreach(SUBSTRAIT_PROTO ${SUBSTRAIT_PROTOS})
   set(SUBSTRAIT_PROTO_GEN "${SUBSTRAIT_GEN_DIR}/substrait/${SUBSTRAIT_PROTO}.pb")
diff --git a/cpp/src/arrow/engine/substrait/expression_internal.cc b/cpp/src/arrow/engine/substrait/expression_internal.cc
index 686ef5d5572..d18ae4dcb41 100644
--- a/cpp/src/arrow/engine/substrait/expression_internal.cc
+++ b/cpp/src/arrow/engine/substrait/expression_internal.cc
@@ -443,10 +443,10 @@ struct ScalarToProtoImpl {
     return Status::OK();
   }
 
-  template <typename ScalarWithBufferValue>
-  Status FromBuffer(void (substrait::Expression::Literal::*set)(std::string&&),
+  template <typename LiteralSetter, typename ScalarWithBufferValue>
+  Status FromBuffer(LiteralSetter&& set_lit,
                     const ScalarWithBufferValue& scalar_with_buffer) {
-    (lit_->*set)(scalar_with_buffer.value->ToString());
+    set_lit(lit_, scalar_with_buffer.value->ToString());
     return Status::OK();
   }
 
@@ -466,11 +466,18 @@ struct ScalarToProtoImpl {
   Status Visit(const FloatScalar& s) { return Primitive(&Lit::set_fp32, s); }
   Status Visit(const DoubleScalar& s) { return Primitive(&Lit::set_fp64, s); }
 
-  Status Visit(const StringScalar& s) { return FromBuffer(&Lit::set_string, s); }
-  Status Visit(const BinaryScalar& s) { return FromBuffer(&Lit::set_binary, s); }
+  Status Visit(const StringScalar& s) {
+    return FromBuffer([](Lit* lit, std::string&& s) { lit->set_string(std::move(s)); },
+                      s);
+  }
+  Status Visit(const BinaryScalar& s) {
+    return FromBuffer([](Lit* lit, std::string&& s) { lit->set_binary(std::move(s)); },
+                      s);
+  }
 
   Status Visit(const FixedSizeBinaryScalar& s) {
-    return FromBuffer(&Lit::set_fixed_binary, s);
+    return FromBuffer(
+        [](Lit* lit, std::string&& s) { lit->set_fixed_binary(std::move(s)); }, s);
   }
 
   Status Visit(const Date32Scalar& s) { return Primitive(&Lit::set_date, s); }
@@ -594,13 +601,14 @@ struct ScalarToProtoImpl {
 
   Status Visit(const ExtensionScalar& s) {
     if (UnwrapUuid(*s.type)) {
-      return FromBuffer(&Lit::set_uuid,
+      return FromBuffer([](Lit* lit, std::string&& s) { lit->set_uuid(std::move(s)); },
                         checked_cast<const FixedSizeBinaryScalar&>(*s.value));
     }
 
     if (UnwrapFixedChar(*s.type)) {
-      return FromBuffer(&Lit::set_fixed_char,
-                        checked_cast<const FixedSizeBinaryScalar&>(*s.value));
+      return FromBuffer(
+          [](Lit* lit, std::string&& s) { lit->set_fixed_char(std::move(s)); },
+          checked_cast<const FixedSizeBinaryScalar&>(*s.value));
     }
 
     if (auto length = UnwrapVarChar(*s.type)) {
@@ -857,7 +865,8 @@ Result<std::unique_ptr<substrait::Expression>> ToProto(const compute::Expression
     // catch the special case of calls convertible to a ListElement
     if (arguments[0]->has_selection() &&
         arguments[0]->selection().has_direct_reference()) {
-      if (arguments[1]->has_literal() && arguments[1]->literal().has_i32()) {
+      if (arguments[1]->has_literal() && arguments[1]->literal().literal_type_case() ==
+                                             substrait::Expression_Literal::kI32) {
         return MakeListElementReference(std::move(arguments[0]),
                                         arguments[1]->literal().i32());
       }
diff --git a/cpp/src/arrow/engine/substrait/plan_internal.cc b/cpp/src/arrow/engine/substrait/plan_internal.cc
index 8ffbcc005da..5813dcde24c 100644
--- a/cpp/src/arrow/engine/substrait/plan_internal.cc
+++ b/cpp/src/arrow/engine/substrait/plan_internal.cc
@@ -23,6 +23,8 @@
 #include "arrow/util/make_unique.h"
 #include "arrow/util/unreachable.h"
 
+#include <unordered_map>
+
 namespace arrow {
 
 using internal::checked_cast;
diff --git a/cpp/src/arrow/engine/substrait/relation_internal.cc b/cpp/src/arrow/engine/substrait/relation_internal.cc
index ae2244c87f5..4ef19349a8d 100644
--- a/cpp/src/arrow/engine/substrait/relation_internal.cc
+++ b/cpp/src/arrow/engine/substrait/relation_internal.cc
@@ -90,7 +90,8 @@ Result<compute::Declaration> FromProto(const substrait::Rel& rel,
       std::vector<std::shared_ptr<dataset::FileFragment>> fragments;
 
       for (const auto& item : read.local_files().items()) {
-        if (!item.has_uri_file()) {
+        if (item.path_type_case() !=
+            substrait::ReadRel_LocalFiles_FileOrFiles::kUriFile) {
           return Status::NotImplemented(
               "substrait::ReadRel::LocalFiles::FileOrFiles with "
               "path_type other than uri_file");
diff --git a/cpp/src/arrow/engine/substrait/type_internal.cc b/cpp/src/arrow/engine/substrait/type_internal.cc
index 49ca1bbfabf..c1dac97b682 100644
--- a/cpp/src/arrow/engine/substrait/type_internal.cc
+++ b/cpp/src/arrow/engine/substrait/type_internal.cc
@@ -79,8 +79,8 @@ Result<FieldVector> FieldsFromProto(int size, const Types& types,
     std::shared_ptr<DataType> type;
     bool nullable;
 
-    if (types[i].has_struct_()) {
-      const auto& struct_ = types[i].struct_();
+    if (types.Get(i).has_struct_()) {
+      const auto& struct_ = types.Get(i).struct_();
 
       ARROW_ASSIGN_OR_RAISE(
           type, FieldsFromProto(struct_.types_size(), struct_.types(), next_name, ext_set)
@@ -88,7 +88,7 @@ Result<FieldVector> FieldsFromProto(int size, const Types& types,
 
       nullable = IsNullable(struct_);
     } else {
-      ARROW_ASSIGN_OR_RAISE(std::tie(type, nullable), FromProto(types[i], ext_set));
+      ARROW_ASSIGN_OR_RAISE(std::tie(type, nullable), FromProto(types.Get(i), ext_set));
     }
 
     fields[i] = field(std::move(name), std::move(type), nullable);