How to generate HAProxy specific logs using rsyslog with high precision timestamp of upto milliseconds ?

Issue

• By default rsyslog shows logs with timestamp maximum upto seconds value.
• After configuring rsyslog for high precision as per kbase #296743 all the logs except HAProxy showed timestamp in milliseconds as below

2017-07-05T12:51:25.388488+05:30 HOSTNAME sysad: THIs
2017-07-05T12:51:35.135463+05:30 HOSTNAME su: (to root) sysad on pts/1
--> 2017-07-05T12:51:53+05:30 HOSTNAME haproxy[4434]: 172.X.X.X:40526 [05/Jul/2017:12:51:53.352] 172.X.X.X-frontend example.host.com-backend/172.X.X.X [172.X.X.X:6580] 1/0/84 2163 -- 0/0/0/0/0 0/0

• Need HAProxy logs as well to be generated with high precision of milliseconds.