diff --git a/CHANGELOG.md b/CHANGELOG.md
index df905f7b94f..6b458312270 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -23,6 +23,10 @@ This project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.htm
 - Both the `Histogram` and `HistogramDataPoint` are redefined with a generic argument of `[N int64 | float64]` in `go.opentelemetry.io/otel/sdk/metric/metricdata`. (#3849)
 - The metric `Export` interface from `go.opentelemetry.io/otel/sdk/metric` accepts a `*ResourceMetrics` instead of `ResourceMetrics`. (#3853)
 
+### Fixed
+
+- Panic in Prometheus exporter on concurrent `Collect`. (#3899)
+
 ### Removed
 
 - The deprecated `go.opentelemetry.io/otel/metric/global` package is removed. (#3829)
diff --git a/exporters/prometheus/exporter_test.go b/exporters/prometheus/exporter_test.go
index 164dcbd0956..90b49f09e4a 100644
--- a/exporters/prometheus/exporter_test.go
+++ b/exporters/prometheus/exporter_test.go
@@ -18,15 +18,18 @@ import (
 	"context"
 	"os"
 	"testing"
+	"time"
 
 	"github.com/prometheus/client_golang/prometheus"
 	"github.com/prometheus/client_golang/prometheus/testutil"
+	dto "github.com/prometheus/client_model/go"
 	"github.com/stretchr/testify/assert"
 	"github.com/stretchr/testify/require"
 
 	"go.opentelemetry.io/otel/attribute"
 	otelmetric "go.opentelemetry.io/otel/metric"
 	"go.opentelemetry.io/otel/metric/instrument"
+	"go.opentelemetry.io/otel/sdk/instrumentation"
 	"go.opentelemetry.io/otel/sdk/metric"
 	"go.opentelemetry.io/otel/sdk/metric/aggregation"
 	"go.opentelemetry.io/otel/sdk/resource"
@@ -647,3 +650,78 @@ func TestDuplicateMetrics(t *testing.T) {
 		})
 	}
 }
+
+func TestConcurrentCollect(t *testing.T) {
+	registry := prometheus.NewRegistry()
+	cfg := newConfig(WithRegisterer(registry))
+
+	reader := metric.NewManualReader(cfg.manualReaderOptions()...)
+
+	collector := &collector{
+		reader:            reader,
+		disableTargetInfo: false,
+		withoutUnits:      true,
+		disableScopeInfo:  cfg.disableScopeInfo,
+		scopeInfos:        make(map[instrumentation.Scope]prometheus.Metric),
+		metricFamilies:    make(map[string]*dto.MetricFamily),
+	}
+
+	err := cfg.registerer.Register(collector)
+	require.NoError(t, err)
+
+	ctx := context.Background()
+
+	// initialize resource
+	res, err := resource.New(ctx,
+		resource.WithAttributes(semconv.ServiceName("prometheus_test")),
+		resource.WithAttributes(semconv.TelemetrySDKVersion("latest")),
+	)
+	require.NoError(t, err)
+	res, err = resource.Merge(resource.Default(), res)
+	require.NoError(t, err)
+
+	exporter := &Exporter{Reader: reader}
+
+	// initialize provider
+	provider := metric.NewMeterProvider(
+		metric.WithReader(exporter),
+		metric.WithResource(res),
+	)
+
+	// initialize two meter a, b
+	meterA := provider.Meter("ma", otelmetric.WithInstrumentationVersion("v0.1.0"))
+	meterB := provider.Meter("mb", otelmetric.WithInstrumentationVersion("v0.1.0"))
+
+	fooA, err := meterA.Int64Counter("foo",
+		instrument.WithUnit("By"),
+		instrument.WithDescription("meter counter foo"))
+	assert.NoError(t, err)
+	fooA.Add(ctx, 100, attribute.String("A", "B"))
+
+	fooB, err := meterB.Int64Counter("foo",
+		instrument.WithUnit("By"),
+		instrument.WithDescription("meter counter foo"))
+	assert.NoError(t, err)
+	fooB.Add(ctx, 100, attribute.String("A", "B"))
+
+	concurrencyLevel := 100
+	ch := make(chan prometheus.Metric, concurrencyLevel)
+
+	for i := 0; i < concurrencyLevel; i++ {
+		go func() {
+			collector.Collect(ch)
+		}()
+	}
+
+	for ; concurrencyLevel > 0; concurrencyLevel-- {
+		select {
+		case <-ch:
+			concurrencyLevel--
+			if concurrencyLevel == 0 {
+				return
+			}
+		case <-time.After(time.Second):
+			t.Fatal("timeout")
+		}
+	}
+}