diff --git a/rclcpp/include/rclcpp/topic_statistics/subscription_topic_statistics.hpp b/rclcpp/include/rclcpp/topic_statistics/subscription_topic_statistics.hpp
index 711b04998c..058ed45818 100644
--- a/rclcpp/include/rclcpp/topic_statistics/subscription_topic_statistics.hpp
+++ b/rclcpp/include/rclcpp/topic_statistics/subscription_topic_statistics.hpp
@@ -94,6 +94,8 @@ class SubscriptionTopicStatistics
 
   /// Handle a message received by the subscription to collect statistics.
   /**
+   * This method acquires a lock to prevent race conditions to collectors list.
+   *
    * \param received_message the message received by the subscription
    * \param now_nanoseconds current time in nanoseconds
    */
@@ -101,6 +103,7 @@ class SubscriptionTopicStatistics
     const CallbackMessageT & received_message,
     const rclcpp::Time now_nanoseconds) const
   {
+    std::lock_guard<std::mutex> lock(mutex_);
     for (const auto & collector : subscriber_statistics_collectors_) {
       collector->OnMessageReceived(received_message, now_nanoseconds.nanoseconds());
     }
@@ -116,21 +119,32 @@ class SubscriptionTopicStatistics
   }
 
   /// Publish a populated MetricsStatisticsMessage.
+  /**
+   * This method acquires a lock to prevent race conditions to collectors list.
+   */
   virtual void publish_message()
   {
+    std::vector<MetricsMessage> msgs;
     rclcpp::Time window_end{get_current_nanoseconds_since_epoch()};
 
-    for (auto & collector : subscriber_statistics_collectors_) {
-      const auto collected_stats = collector->GetStatisticsResults();
-
-      auto message = libstatistics_collector::collector::GenerateStatisticMessage(
-        node_name_,
-        collector->GetMetricName(),
-        collector->GetMetricUnit(),
-        window_start_,
-        window_end,
-        collected_stats);
-      publisher_->publish(message);
+    {
+      std::lock_guard<std::mutex> lock(mutex_);
+      for (auto & collector : subscriber_statistics_collectors_) {
+        const auto collected_stats = collector->GetStatisticsResults();
+
+        auto message = libstatistics_collector::collector::GenerateStatisticMessage(
+          node_name_,
+          collector->GetMetricName(),
+          collector->GetMetricUnit(),
+          window_start_,
+          window_end,
+          collected_stats);
+        msgs.push_back(message);
+      }
+    }
+
+    for (auto & msg : msgs) {
+      publisher_->publish(msg);
     }
     window_start_ = window_end;
   }
@@ -138,11 +152,14 @@ class SubscriptionTopicStatistics
 protected:
   /// Return a vector of all the currently collected data.
   /**
+   * This method acquires a lock to prevent race conditions to collectors list.
+   *
    * \return a vector of all the collected data
    */
   std::vector<StatisticData> get_current_collector_data() const
   {
     std::vector<StatisticData> data;
+    std::lock_guard<std::mutex> lock(mutex_);
     for (const auto & collector : subscriber_statistics_collectors_) {
       data.push_back(collector->GetStatisticsResults());
     }
@@ -151,23 +168,35 @@ class SubscriptionTopicStatistics
 
 private:
   /// Construct and start all collectors and set window_start_.
+  /**
+   * This method acquires a lock to prevent race conditions to collectors list.
+   */
   void bring_up()
   {
     auto received_message_period = std::make_unique<ReceivedMessagePeriod>();
     received_message_period->Start();
-    subscriber_statistics_collectors_.emplace_back(std::move(received_message_period));
+    {
+      std::lock_guard<std::mutex> lock(mutex_);
+      subscriber_statistics_collectors_.emplace_back(std::move(received_message_period));
+    }
 
     window_start_ = rclcpp::Time(get_current_nanoseconds_since_epoch());
   }
 
   /// Stop all collectors, clear measurements, stop publishing timer, and reset publisher.
+  /**
+   * This method acquires a lock to prevent race conditions to collectors list.
+   */
   void tear_down()
   {
-    for (auto & collector : subscriber_statistics_collectors_) {
-      collector->Stop();
-    }
+    {
+      std::lock_guard<std::mutex> lock(mutex_);
+      for (auto & collector : subscriber_statistics_collectors_) {
+        collector->Stop();
+      }
 
-    subscriber_statistics_collectors_.clear();
+      subscriber_statistics_collectors_.clear();
+    }
 
     if (publisher_timer_) {
       publisher_timer_->cancel();
@@ -187,6 +216,8 @@ class SubscriptionTopicStatistics
     return std::chrono::duration_cast<std::chrono::nanoseconds>(now.time_since_epoch()).count();
   }
 
+  /// Mutex to protect the subsequence vectors
+  mutable std::mutex mutex_;
   /// Collection of statistics collectors
   std::vector<std::unique_ptr<TopicStatsCollector>> subscriber_statistics_collectors_{};
   /// Node name used to generate topic statistics messages to be published