diff --git a/services/sensorservice/SensorDevice.cpp b/services/sensorservice/SensorDevice.cpp
index f62562c..9c4d1ac 100644
--- a/services/sensorservice/SensorDevice.cpp
+++ b/services/sensorservice/SensorDevice.cpp
@@ -429,14 +429,18 @@
 }
 
 void SensorDevice::onDynamicSensorsDisconnected(
-        const std::vector<int32_t>& dynamicSensorHandlesRemoved) {
-    if (sensorservice_flags::sensor_device_on_dynamic_sensor_disconnected()) {
-        for (auto handle : dynamicSensorHandlesRemoved) {
-            auto it = mConnectedDynamicSensors.find(handle);
-            if (it != mConnectedDynamicSensors.end()) {
-                mConnectedDynamicSensors.erase(it);
-            }
-        }
+        const std::vector<int32_t>& /*dynamicSensorHandlesRemoved*/) {
+    // This function is currently a no-op has removing data in mConnectedDynamicSensors here will
+    // cause a race condition between when this callback is invoked and when the dynamic sensor meta
+    // event is processed by polling. The clean up should only happen after processing the meta
+    // event. See the call stack of cleanupDisconnectedDynamicSensor.
+}
+
+void SensorDevice::cleanupDisconnectedDynamicSensor(int handle) {
+    std::lock_guard<std::mutex> lock(mDynamicSensorsMutex);
+    auto it = mConnectedDynamicSensors.find(handle);
+    if (it != mConnectedDynamicSensors.end()) {
+        mConnectedDynamicSensors.erase(it);
     }
 }
 
diff --git a/services/sensorservice/SensorDevice.h b/services/sensorservice/SensorDevice.h
index 52f7cf2..b7b04b5 100644
--- a/services/sensorservice/SensorDevice.h
+++ b/services/sensorservice/SensorDevice.h
@@ -63,6 +63,14 @@
     std::vector<int32_t> getDynamicSensorHandles();
 
     void handleDynamicSensorConnection(int handle, bool connected);
+    /**
+     * Removes handle from connected dynamic sensor list. Note that this method must be called after
+     * SensorService has done using sensor data.
+     *
+     * @param handle of the disconnected dynamic sensor.
+     */
+    void cleanupDisconnectedDynamicSensor(int handle);
+
     status_t initCheck() const;
     int getHalDeviceVersion() const;
 
diff --git a/services/sensorservice/SensorService.cpp b/services/sensorservice/SensorService.cpp
index 69e4309..70ca702 100644
--- a/services/sensorservice/SensorService.cpp
+++ b/services/sensorservice/SensorService.cpp
@@ -1273,6 +1273,7 @@
                 } else {
                     int handle = mSensorEventBuffer[i].dynamic_sensor_meta.handle;
                     disconnectDynamicSensor(handle, activeConnections);
+                    device.cleanupDisconnectedDynamicSensor(handle);
                 }
             }
         }