diff --git a/.chloggen/handle-half-cleaned-up-servicegraph-metric.yaml b/.chloggen/handle-half-cleaned-up-servicegraph-metric.yaml
new file mode 100644
index 000000000000..431fb8d9740e
--- /dev/null
+++ b/.chloggen/handle-half-cleaned-up-servicegraph-metric.yaml
@@ -0,0 +1,27 @@
+# Use this changelog template to create an entry for release notes.
+
+# One of 'breaking', 'deprecation', 'new_component', 'enhancement', 'bug_fix'
+change_type: bug_fix
+
+# The name of the component, or a single word describing the area of concern, (e.g. filelogreceiver)
+component: servicegraphprocessor
+
+# A brief description of the change.  Surround your text with quotes ("") if it needs to start with a backtick (`).
+note: Fix 'failed to find dimensions for key' error from race condition in metrics cleanup.
+
+# Mandatory: One or more tracking issues related to the change. You can use the PR number here if no issue exists.
+issues: [ 31701 ]
+
+# (Optional) One or more lines of additional information to render under the primary note.
+# These lines will be padded with 2 spaces and then inserted directly into the document.
+# Use pipe (|) for multiline entries.
+subtext:
+
+# If your change doesn't affect end users or the exported elements of any package,
+# you should instead start your pull request title with [chore] or use the "Skip Changelog" label.
+# Optional: The change log or logs in which this entry should be included.
+# e.g. '[user]' or '[user, api]'
+# Include 'user' if the change is relevant to end users.
+# Include 'api' if there is a change to a library API.
+# Default: '[user]'
+change_logs: []
diff --git a/connector/servicegraphconnector/connector.go b/connector/servicegraphconnector/connector.go
index a8b2818eb565..bd8a22a431be 100644
--- a/connector/servicegraphconnector/connector.go
+++ b/connector/servicegraphconnector/connector.go
@@ -666,12 +666,6 @@ func (p *serviceGraphConnector) cleanCache() {
 	}
 	p.metricMutex.RUnlock()
 
-	p.metricMutex.Lock()
-	for _, key := range staleSeries {
-		delete(p.keyToMetric, key)
-	}
-	p.metricMutex.Unlock()
-
 	p.seriesMutex.Lock()
 	for _, key := range staleSeries {
 		delete(p.reqTotal, key)
@@ -684,6 +678,12 @@ func (p *serviceGraphConnector) cleanCache() {
 		delete(p.reqServerDurationSecondsBucketCounts, key)
 	}
 	p.seriesMutex.Unlock()
+
+	p.metricMutex.Lock()
+	for _, key := range staleSeries {
+		delete(p.keyToMetric, key)
+	}
+	p.metricMutex.Unlock()
 }
 
 // spanDuration returns the duration of the given span in seconds (legacy ms).
diff --git a/connector/servicegraphconnector/connector_test.go b/connector/servicegraphconnector/connector_test.go
index f395ac87062d..e2e7ac49e1fe 100644
--- a/connector/servicegraphconnector/connector_test.go
+++ b/connector/servicegraphconnector/connector_test.go
@@ -339,6 +339,73 @@ func TestStaleSeriesCleanup(t *testing.T) {
 	assert.NoError(t, p.Shutdown(context.Background()))
 }
 
+func TestMapsAreConsistentDuringCleanup(t *testing.T) {
+	// Prepare
+	cfg := &Config{
+		MetricsExporter: "mock",
+		Dimensions:      []string{"some-attribute", "non-existing-attribute"},
+		Store: StoreConfig{
+			MaxItems: 10,
+			TTL:      time.Second,
+		},
+	}
+
+	mockMetricsExporter := newMockMetricsExporter()
+
+	set := componenttest.NewNopTelemetrySettings()
+	set.Logger = zaptest.NewLogger(t)
+	p := newConnector(set, cfg)
+
+	mHost := newMockHost(map[component.DataType]map[component.ID]component.Component{
+		component.DataTypeMetrics: {
+			component.MustNewID("mock"): mockMetricsExporter,
+		},
+	})
+
+	assert.NoError(t, p.Start(context.Background(), mHost))
+
+	// ConsumeTraces
+	td := buildSampleTrace(t, "first")
+	assert.NoError(t, p.ConsumeTraces(context.Background(), td))
+
+	// Make series stale and force a cache cleanup
+	for key, metric := range p.keyToMetric {
+		metric.lastUpdated = 0
+		p.keyToMetric[key] = metric
+	}
+
+	// Start cleanup, but use locks to pretend that we are:
+	// - currently collecting metrics (so seriesMutex is locked)
+	// - currently getting dimensions for that series (so metricMutex is locked)
+	p.seriesMutex.Lock()
+	p.metricMutex.RLock()
+	go p.cleanCache()
+
+	// Since everything is locked, nothing has happened, so both should still have length 1
+	assert.Equal(t, 1, len(p.reqTotal))
+	assert.Equal(t, 1, len(p.keyToMetric))
+
+	// Now we pretend that we have stopped collecting metrics, by unlocking seriesMutex
+	p.seriesMutex.Unlock()
+
+	// Make sure cleanupCache has continued to the next mutex
+	time.Sleep(time.Millisecond)
+	p.seriesMutex.Lock()
+
+	// The expired series should have been removed. The metrics collector now won't look
+	// for dimensions from that series. It's important that it happens this way around,
+	// instead of deleting it from `keyToMetric`, otherwise the metrics collector will try
+	// and fail to find dimensions for a series that is about to be removed.
+	assert.Equal(t, 0, len(p.reqTotal))
+	assert.Equal(t, 1, len(p.keyToMetric))
+
+	p.metricMutex.RUnlock()
+	p.seriesMutex.Unlock()
+
+	// Shutdown the connector
+	assert.NoError(t, p.Shutdown(context.Background()))
+}
+
 func setupTelemetry(reader *sdkmetric.ManualReader) component.TelemetrySettings {
 	settings := componenttest.NewNopTelemetrySettings()
 	settings.MetricsLevel = configtelemetry.LevelNormal