diff --git a/rclpy/rclpy/action/client.py b/rclpy/rclpy/action/client.py
index 86ecdc659..43cdff394 100644
--- a/rclpy/rclpy/action/client.py
+++ b/rclpy/rclpy/action/client.py
@@ -182,7 +182,9 @@ def __init__(
         self._node.add_waitable(self)
         self._logger = self._node.get_logger().get_child('action_client')
 
-        self._lock = threading.Lock()
+        self._goal_lock = threading.Lock()
+        self._cancel_lock = threading.Lock()
+        self._result_lock = threading.Lock()
 
     def _generate_random_uuid(self):
         return UUID(uuid=list(uuid.uuid4().bytes))
@@ -200,34 +202,36 @@ def _remove_pending_request(self, future, pending_requests):
         :return: The sequence number associated with the removed future, or
             None if the future was not found in the list.
         """
-        with self._lock:
-            for seq, req_future in list(pending_requests.items()):
-                if future == req_future:
-                    try:
-                        del pending_requests[seq]
-                    except KeyError:
-                        pass
-                    else:
-                        self.remove_future(future)
-                        return seq
+        for seq, req_future in list(pending_requests.items()):
+            if future == req_future:
+                try:
+                    del pending_requests[seq]
+                except KeyError:
+                    pass
+                else:
+                    self.remove_future(future)
+                    return seq
         return None
 
     def _remove_pending_goal_request(self, future):
-        seq = self._remove_pending_request(future, self._pending_goal_requests)
-        if seq in self._goal_sequence_number_to_goal_id:
-            del self._goal_sequence_number_to_goal_id[seq]
+        with self._goal_lock:
+            seq = self._remove_pending_request(future, self._pending_goal_requests)
+            if seq in self._goal_sequence_number_to_goal_id:
+                del self._goal_sequence_number_to_goal_id[seq]
 
     def _remove_pending_cancel_request(self, future):
-        self._remove_pending_request(future, self._pending_cancel_requests)
+        with self._cancel_lock:
+            self._remove_pending_request(future, self._pending_cancel_requests)
 
     def _remove_pending_result_request(self, future):
-        seq = self._remove_pending_request(future, self._pending_result_requests)
-        if seq in self._result_sequence_number_to_goal_id:
-            goal_uuid = bytes(self._result_sequence_number_to_goal_id[seq].uuid)
-            del self._result_sequence_number_to_goal_id[seq]
-            # remove feeback_callback if user is aware of result and it's been received
-            if goal_uuid in self._feedback_callbacks:
-                del self._feedback_callbacks[goal_uuid]
+        with self._result_lock:
+            seq = self._remove_pending_request(future, self._pending_result_requests)
+            if seq in self._result_sequence_number_to_goal_id:
+                goal_uuid = bytes(self._result_sequence_number_to_goal_id[seq].uuid)
+                del self._result_sequence_number_to_goal_id[seq]
+                # remove feeback_callback if user is aware of result and it's been received
+                if goal_uuid in self._feedback_callbacks:
+                    del self._feedback_callbacks[goal_uuid]
 
     # Start Waitable API
     def is_ready(self, wait_set):
@@ -291,7 +295,7 @@ async def execute(self, taken_data):
             sequence_number, goal_response = taken_data['goal']
 
             try:
-                with self._lock:
+                with self._goal_lock:
                     goal_id = self._goal_sequence_number_to_goal_id[sequence_number]
                     pending_goal_request = self._pending_goal_requests[sequence_number]
             except KeyError:
@@ -313,7 +317,7 @@ async def execute(self, taken_data):
         if 'cancel' in taken_data:
             sequence_number, cancel_response = taken_data['cancel']
             try:
-                with self._lock:
+                with self._cancel_lock:
                     pending_cancel_request = self._pending_cancel_requests[sequence_number]
             except KeyError:
                 self._logger.warning(
@@ -326,7 +330,7 @@ async def execute(self, taken_data):
         if 'result' in taken_data:
             sequence_number, result_response = taken_data['result']
             try:
-                with self._lock:
+                with self._result_lock:
                     pending_result_request = self._pending_result_requests[sequence_number]
             except KeyError:
                 self._logger.warning(
@@ -449,7 +453,7 @@ def send_goal_async(self, goal, feedback_callback=None, goal_uuid=None):
         request.goal_id = self._generate_random_uuid() if goal_uuid is None else goal_uuid
         request.goal = goal
 
-        with self._lock:
+        with self._goal_lock:
             sequence_number = self._client_handle.send_goal_request(request)
             if sequence_number in self._pending_goal_requests:
                 raise RuntimeError(
@@ -510,7 +514,7 @@ def _cancel_goal_async(self, goal_handle):
         cancel_request = CancelGoal.Request()
         cancel_request.goal_info.goal_id = goal_handle.goal_id
 
-        with self._lock:
+        with self._cancel_lock:
             sequence_number = self._client_handle.send_cancel_request(cancel_request)
             if sequence_number in self._pending_cancel_requests:
                 raise RuntimeError(
@@ -565,7 +569,7 @@ def _get_result_async(self, goal_handle):
         result_request = self._action_type.Impl.GetResultService.Request()
         result_request.goal_id = goal_handle.goal_id
 
-        with self._lock:
+        with self._result_lock:
             sequence_number = self._client_handle.send_result_request(result_request)
             if sequence_number in self._pending_result_requests:
                 raise RuntimeError(