We've now added a native connector with parsing directly with Spark Dataframes. 
https://docs.databricks.com/en/structured-streaming/protocol-buffers.html

from pyspark.sql.protobuf.functions import to_protobuf, from_protobuf

schema_registry_options = {
  "schema.registry.subject" : "app-events-value",
  "schema.registry.address" : "https://schema-registry:8081/"
}

# Convert binary Protobuf to SQL struct with from_protobuf():
proto_events_df = (
  input_df
    .select(
      from_protobuf("proto_bytes", options = schema_registry_options)
        .alias("proto_event")
    )
)

# Convert SQL struct to binary Protobuf with to_protobuf():
protobuf_binary_df = (
  proto_events_df
    .selectExpr("struct(name, id, context) as event")
    .select(
      to_protobuf("event", options = schema_registry_options)
        .alias("proto_bytes")
    )
)