diff --git a/pkg/kubelet/dockershim/docker_container.go b/pkg/kubelet/dockershim/docker_container.go
index 01b865f9d2a..3c61e13cf91 100644
--- a/pkg/kubelet/dockershim/docker_container.go
+++ b/pkg/kubelet/dockershim/docker_container.go
@@ -83,6 +83,25 @@ func (ds *dockerService) ListContainers(_ context.Context, r *runtimeapi.ListCon
 	return &runtimeapi.ListContainersResponse{Containers: result}, nil
 }
 
+func (ds *dockerService) getContainerCleanupInfo(containerID string) (*containerCleanupInfo, bool) {
+	ds.cleanupInfosLock.RLock()
+	defer ds.cleanupInfosLock.RUnlock()
+	info, ok := ds.containerCleanupInfos[containerID]
+	return info, ok
+}
+
+func (ds *dockerService) setContainerCleanupInfo(containerID string, info *containerCleanupInfo) {
+	ds.cleanupInfosLock.Lock()
+	defer ds.cleanupInfosLock.Unlock()
+	ds.containerCleanupInfos[containerID] = info
+}
+
+func (ds *dockerService) clearContainerCleanupInfo(containerID string) {
+	ds.cleanupInfosLock.Lock()
+	defer ds.cleanupInfosLock.Unlock()
+	delete(ds.containerCleanupInfos, containerID)
+}
+
 // CreateContainer creates a new container in the given PodSandbox
 // Docker cannot store the log to an arbitrary location (yet), so we create an
 // symlink at LogPath, linking to the actual path of the log.
@@ -185,7 +204,7 @@ func (ds *dockerService) CreateContainer(_ context.Context, r *runtimeapi.Create
 			// we don't perform the clean up just yet at that could destroy information
 			// needed for the container to start (e.g. Windows credentials stored in
 			// registry keys); instead, we'll clean up when the container gets removed
-			ds.containerCleanupInfos[containerID] = cleanupInfo
+			ds.setContainerCleanupInfo(containerID, cleanupInfo)
 		}
 		return &runtimeapi.CreateContainerResponse{ContainerId: containerID}, nil
 	}
@@ -461,11 +480,11 @@ func (ds *dockerService) UpdateContainerResources(_ context.Context, r *runtimea
 }
 
 func (ds *dockerService) performPlatformSpecificContainerForContainer(containerID string) (errors []error) {
-	if cleanupInfo, present := ds.containerCleanupInfos[containerID]; present {
+	if cleanupInfo, present := ds.getContainerCleanupInfo(containerID); present {
 		errors = ds.performPlatformSpecificContainerCleanupAndLogErrors(containerID, cleanupInfo)
 
 		if len(errors) == 0 {
-			delete(ds.containerCleanupInfos, containerID)
+			ds.clearContainerCleanupInfo(containerID)
 		}
 	}
 
diff --git a/pkg/kubelet/dockershim/docker_container_test.go b/pkg/kubelet/dockershim/docker_container_test.go
index 61b30a6c996..9ff4195929c 100644
--- a/pkg/kubelet/dockershim/docker_container_test.go
+++ b/pkg/kubelet/dockershim/docker_container_test.go
@@ -23,6 +23,7 @@ import (
 	"fmt"
 	"path/filepath"
 	"strings"
+	"sync"
 	"testing"
 	"time"
 
@@ -56,6 +57,67 @@ func getTestCTX() context.Context {
 	return context.Background()
 }
 
+// TestConcurrentlyCreateAndDeleteContainers is a regression test for #93771, which ensures
+// kubelet would not panic on concurrent writes to `dockerService.containerCleanupInfos`.
+func TestConcurrentlyCreateAndDeleteContainers(t *testing.T) {
+	ds, _, _ := newTestDockerService()
+	podName, namespace := "foo", "bar"
+	containerName, image := "sidecar", "logger"
+
+	const count = 20
+	configs := make([]*runtimeapi.ContainerConfig, 0, count)
+	sConfigs := make([]*runtimeapi.PodSandboxConfig, 0, count)
+	for i := 0; i < count; i++ {
+		s := makeSandboxConfig(fmt.Sprintf("%s%d", podName, i),
+			fmt.Sprintf("%s%d", namespace, i), fmt.Sprintf("%d", i), 0)
+		labels := map[string]string{"concurrent-test": fmt.Sprintf("label%d", i)}
+		c := makeContainerConfig(s, fmt.Sprintf("%s%d", containerName, i),
+			fmt.Sprintf("%s:v%d", image, i), uint32(i), labels, nil)
+		sConfigs = append(sConfigs, s)
+		configs = append(configs, c)
+	}
+
+	containerIDs := make(chan string, len(configs)) // make channel non-blocking to simulate concurrent containers creation
+
+	var (
+		creationWg sync.WaitGroup
+		deletionWg sync.WaitGroup
+	)
+
+	creationWg.Add(len(configs))
+
+	go func() {
+		creationWg.Wait()
+		close(containerIDs)
+	}()
+	for i := range configs {
+		go func(i int) {
+			defer creationWg.Done()
+			// We don't care about the sandbox id; pass a bogus one.
+			sandboxID := fmt.Sprintf("sandboxid%d", i)
+			req := &runtimeapi.CreateContainerRequest{PodSandboxId: sandboxID, Config: configs[i], SandboxConfig: sConfigs[i]}
+			createResp, err := ds.CreateContainer(getTestCTX(), req)
+			if err != nil {
+				t.Errorf("CreateContainer: %v", err)
+				return
+			}
+			containerIDs <- createResp.ContainerId
+		}(i)
+	}
+
+	for containerID := range containerIDs {
+		deletionWg.Add(1)
+		go func(id string) {
+			defer deletionWg.Done()
+			_, err := ds.RemoveContainer(getTestCTX(), &runtimeapi.RemoveContainerRequest{ContainerId: id})
+			if err != nil {
+				t.Errorf("RemoveContainer: %v", err)
+			}
+		}(containerID)
+	}
+	deletionWg.Wait()
+}
+
 // TestListContainers creates several containers and then list them to check
 // whether the correct metadatas, states, and labels are returned.
 func TestListContainers(t *testing.T) {
diff --git a/pkg/kubelet/dockershim/docker_service.go b/pkg/kubelet/dockershim/docker_service.go
index d9665698cc3..74a7b5d0812 100644
--- a/pkg/kubelet/dockershim/docker_service.go
+++ b/pkg/kubelet/dockershim/docker_service.go
@@ -31,7 +31,7 @@ import (
 	dockertypes "github.com/docker/docker/api/types"
 	"k8s.io/klog/v2"
 
-	"k8s.io/api/core/v1"
+	v1 "k8s.io/api/core/v1"
 	runtimeapi "k8s.io/cri-api/pkg/apis/runtime/v1alpha2"
 	kubeletconfig "k8s.io/kubernetes/pkg/kubelet/apis/config"
 	"k8s.io/kubernetes/pkg/kubelet/checkpointmanager"
@@ -316,6 +316,7 @@ type dockerService struct {
 	// (see `applyPlatformSpecificDockerConfig` and `performPlatformSpecificContainerCleanup`
 	// methods for more info).
 	containerCleanupInfos map[string]*containerCleanupInfo
+	cleanupInfosLock      sync.RWMutex
 }
 
 // TODO: handle context.