diff --git a/changelog/16094.txt b/changelog/16094.txt
new file mode 100644
index 000000000..edb10600d
--- /dev/null
+++ b/changelog/16094.txt
@@ -0,0 +1,3 @@
+```release-note:bug
+plugin/multiplexing: Fix panic when id doesn't exist in connection map
+```
\ No newline at end of file
diff --git a/vault/plugin_catalog.go b/vault/plugin_catalog.go
index dcfa95203..9caaa2410 100644
--- a/vault/plugin_catalog.go
+++ b/vault/plugin_catalog.go
@@ -157,7 +157,10 @@ func (c *PluginCatalog) cleanupExternalPlugin(name, id string) error {
 		return fmt.Errorf("plugin client not found")
 	}
 
-	pc := extPlugin.connections[id]
+	pc, ok := extPlugin.connections[id]
+	if !ok {
+		return fmt.Errorf("plugin connection not found")
+	}
 
 	delete(extPlugin.connections, id)
 	if !extPlugin.multiplexingSupport {