Generalized LR parsing is one of the enhanced LR parsing methods so that it overcome the limit of one-way linear stack of the traditional LR parser using graph-structured stack, and it has been playing an important role of a firm starting point to generate other variations for NL parsing equipped with various mechanisms. In this paper, we propose a conditional Action Model that can solve the problems of conventional probabilistic GLR methods. Previous probabilistic GLR parsers have used relatively limited contextual information for disambiguation due to the high complexity of internal GLR stack. Our proposed model uses Surface Phrasal Types representing the structural characteristics of the parse for its additional contextual information, so that more specified structural preferences can be reflected into the parser. Experimental results show that our GLR parser with the proposed Conditional Action Model outperforms the previous methods by about 6-7% without any lexical information, and our model can utilize the rich stack information for syntactic disambiguation of probabilistic LR parser.