This document describes a new service discovery protocol called ICMPv6SD that is designed to address some limitations of UPnP/SSDP in home networks. ICMPv6SD utilizes the advantages of IPv6 and ICMPv6 to provide a more compact and efficient discovery protocol. It reorganizes the SSDP message format to fit the ICMPv6 message format for lighter encoding. It also applies data compression using Huffman coding to further reduce message sizes. Experimental results show ICMPv6SD can significantly reduce the number of messages and amount of network traffic compared to SSDP, especially as the number of devices increases in the home network.