We construct the explicit form of the four-dimensional effective supergravity action, which describes low-energy physics of the Randall-Sundrum model with moduli fields in the bulk and charged chiral matter living on the branes. The low-energy action is derived from the compactification of a locally supersymmetric model in five dimensions. We deduce a generalization of the effective 4d action to the case of a general, not necessarily exponential, warp factor. The mechanism of supersymmetry breaking mediation is described, which relies on the non-trivial configuration of theZ2-odd bulk fields. Broken supersymmetry leads to stabilization of the interbrane distance. ©2001 American Institute of Physics.