The deal is the first investment PepsiCo has made under its newly-formed entity, The PepsiCo HIVE, which is focused on growing emerging smaller brands.
Through the agreement, PepsiCo will further expand its nutrition portfolio.
"We're thrilled to welcome the innovative Health Warrior brand to the PepsiCo family," said Al Carey, Chief Executive Officer of PepsiCo North America.
"We continue to position ourselves at the forefront of changing consumer preferences and trends.
“This acquisition helps us increase our presence in the nutrition bar category, which is an attractive growth space."
Founded in 2011, Health Warrior makes snacks which include nutrient-dense, non-GMO and gluten-free ingredients.
The details of the transaction were not disclosed and Health Warrior will continue to operate from its US headquarters in Richmond, Vancouver.
"We're fired up to join PepsiCo and continue to put nutritious options within reach of significantly more people," said Health Warrior CEO Shane Emmett.
"With a shared mission to help create healthy relationships between people and food, PepsiCo is the ideal partner to bring our nutrient-dense, plant-forward offerings to even more consumers and considerably accelerate Health Warrior's growth. This is the whole reason we started the company."