diff --git a/spring-beans/src/main/java/org/springframework/beans/factory/support/DefaultListableBeanFactory.java b/spring-beans/src/main/java/org/springframework/beans/factory/support/DefaultListableBeanFactory.java
index 785c9431bba..6cc985c64e8 100644
--- a/spring-beans/src/main/java/org/springframework/beans/factory/support/DefaultListableBeanFactory.java
+++ b/spring-beans/src/main/java/org/springframework/beans/factory/support/DefaultListableBeanFactory.java
@@ -1035,7 +1035,9 @@ public class DefaultListableBeanFactory extends AbstractAutowireCapableBeanFacto
 		for (String bdName : this.beanDefinitionNames) {
 			if (!beanName.equals(bdName)) {
 				BeanDefinition bd = this.beanDefinitionMap.get(bdName);
-				if (beanName.equals(bd.getParentName())) {
+				// Ensure bd is non-null due to potential concurrent modification
+				// of the beanDefinitionMap.
+				if (bd != null && beanName.equals(bd.getParentName())) {
 					resetBeanDefinition(bdName);
 				}
 			}
diff --git a/spring-beans/src/test/java/org/springframework/beans/factory/DefaultListableBeanFactoryTests.java b/spring-beans/src/test/java/org/springframework/beans/factory/DefaultListableBeanFactoryTests.java
index d2cf2619d84..247488f6742 100644
--- a/spring-beans/src/test/java/org/springframework/beans/factory/DefaultListableBeanFactoryTests.java
+++ b/spring-beans/src/test/java/org/springframework/beans/factory/DefaultListableBeanFactoryTests.java
@@ -38,6 +38,7 @@ import java.util.Properties;
 import java.util.Set;
 import java.util.concurrent.Callable;
 import java.util.stream.Collectors;
+import java.util.stream.IntStream;
 
 import javax.annotation.Priority;
 import javax.security.auth.Subject;
@@ -882,6 +883,32 @@ class DefaultListableBeanFactoryTests {
 		assertThat(lbf.getBean("test2")).isInstanceOf(NestedTestBean.class);
 	}
 
+	@Test // gh-23542
+	public void concurrentBeanDefinitionRemoval() {
+		final int MAX = 200;
+		lbf.setAllowBeanDefinitionOverriding(false);
+
+		// Register the bean definitions before invoking preInstantiateSingletons()
+		// to simulate realistic usage of an ApplicationContext; otherwise, the bean
+		// factory thinks it's an "empty" factory which causes this test to fail in
+		// an unrealistic manner.
+		IntStream.range(0, MAX).forEach(this::registerTestBean);
+		lbf.preInstantiateSingletons();
+
+		// This test is considered successful if the following does not result in an exception.
+		IntStream.range(0, MAX).parallel().forEach(this::removeTestBean);
+	}
+
+	private void registerTestBean(int i) {
+		String name = "test" + i;
+		lbf.registerBeanDefinition(name, new RootBeanDefinition(TestBean.class));
+	}
+
+	private void removeTestBean(int i) {
+		String name = "test" + i;
+		lbf.removeBeanDefinition(name);
+	}
+
 	@Test
 	void beanDefinitionOverridingNotAllowed() {
 		lbf.setAllowBeanDefinitionOverriding(false);