The usual action of Yang-Mills theory is given by the quadratic form of curvatures of a principal G bundle defined on four dimensional manifolds. The non-linear generalization which is known as the Born-Infeld action has been given. In this paper we give another non-linear generalization on four dimensional manifolds and call it a universal Yang-Mills action. The advantage of our model is that the action splits {bf automatically} into two parts consisting of self-dual and anti-self-dual directions. Namely, we have automatically the self-dual and anti-self-dual equations without solving the equations of motion as in a usual case. Our method may be applicable to recent non-commutative Yang-Mills theories studied widely.