diff --git a/python/tvm/relay/frontend/keras.py b/python/tvm/relay/frontend/keras.py
index 75ccec52f309..3dc055108416 100644
--- a/python/tvm/relay/frontend/keras.py
+++ b/python/tvm/relay/frontend/keras.py
@@ -955,10 +955,13 @@ def _convert_concat(
     if input_shape is None:
         input_shape = keras_layer.input_shape
 
-    if data_layout == "NHWC" or len(input_shape[0]) < 4:
-        axis = -1
-    else:
-        axis = 1
+    axis = keras_layer.axis
+    dims = len(input_shape[0])
+    if data_layout == "NCHW":  # need_transpose
+        if axis == -1:
+            axis = 1
+        else:
+            axis = axis + 1 if axis < dims else 1
     return _op.concatenate(_as_list(inexpr), axis=axis)
 
 
diff --git a/tests/python/frontend/keras/test_forward.py b/tests/python/frontend/keras/test_forward.py
index 842d803b174d..2584a36e32e9 100644
--- a/tests/python/frontend/keras/test_forward.py
+++ b/tests/python/frontend/keras/test_forward.py
@@ -159,6 +159,24 @@ def test_forward_merge(self, keras_mod):
             keras_model = keras_mod.models.Model(data, out)
             verify_keras_frontend(keras_model)
 
+    def test_forward_concatenate(self, keras_mod):
+        """test_forward_concatenate"""
+        data1 = keras_mod.layers.Input(shape=(1, 2, 2))
+        data2 = keras_mod.layers.Input(shape=(1, 1, 2))
+        merge_func = keras_mod.layers.Concatenate(axis=2)
+        out = merge_func([data1, data2])
+        keras_model = keras_mod.models.Model([data1, data2], out)
+        verify_keras_frontend(keras_model, layout="NHWC")
+        verify_keras_frontend(keras_model, layout="NCHW")
+        # test default axis (e.g., -1)
+        data1 = keras_mod.layers.Input(shape=(1, 2, 2))
+        data2 = keras_mod.layers.Input(shape=(1, 2, 3))
+        merge_func = keras_mod.layers.Concatenate()
+        out = merge_func([data1, data2])
+        keras_model = keras_mod.models.Model([data1, data2], out)
+        verify_keras_frontend(keras_model, layout="NHWC")
+        verify_keras_frontend(keras_model, layout="NCHW")
+
     def test_forward_merge_dot(self, keras_mod):
         """test_forward_merge_dot"""
         data1 = keras_mod.layers.Input(shape=(2, 2))
@@ -793,6 +811,7 @@ def test_forward_time_distributed(self, keras_mod):
 if __name__ == "__main__":
     for k in [keras, tf_keras]:
         sut = TestKeras()
+        sut.test_forward_concatenate(keras_mod=k)
         sut.test_forward_merge_dot(keras_mod=k)
         sut.test_forward_merge(keras_mod=k)
         sut.test_forward_activations(keras_mod=k)