diff --git a/src/Symfony/Component/Yaml/Parser.php b/src/Symfony/Component/Yaml/Parser.php
index 2f8afc298ae5f..dadf7df446bcb 100644
--- a/src/Symfony/Component/Yaml/Parser.php
+++ b/src/Symfony/Component/Yaml/Parser.php
@@ -1206,7 +1206,7 @@ private function lexInlineStructure(int &$cursor, string $closingTag, bool $cons
                         $value .= $this->currentLine[$cursor];
                         ++$cursor;
 
-                        if ($consumeUntilEol && isset($this->currentLine[$cursor]) && (strspn($this->currentLine, ' ', $cursor) + $cursor) < strlen($this->currentLine)) {
+                        if ($consumeUntilEol && isset($this->currentLine[$cursor]) && ($whitespaces = strspn($this->currentLine, ' ', $cursor) + $cursor) < strlen($this->currentLine) && '#' !== $this->currentLine[$whitespaces]) {
                             throw new ParseException(sprintf('Unexpected token "%s".', trim(substr($this->currentLine, $cursor))));
                         }
 
diff --git a/src/Symfony/Component/Yaml/Tests/ParserTest.php b/src/Symfony/Component/Yaml/Tests/ParserTest.php
index 0c5c8222b00b0..7725ac8d4d61c 100644
--- a/src/Symfony/Component/Yaml/Tests/ParserTest.php
+++ b/src/Symfony/Component/Yaml/Tests/ParserTest.php
@@ -2160,6 +2160,19 @@ public static function inlineNotationSpanningMultipleLinesProvider(): array
                 <<<YAML
 map: {key: "value", a: "b"}
 param: "some"
+YAML
+            ],
+            'mixed mapping with inline notation on one line with a comment' => [
+                [
+                    'map' => [
+                        'key' => 'value',
+                        'a' => 'b',
+                    ],
+                    'param' => 'some',
+                ],
+                <<<YAML
+map: {key: "value", a: "b"} # comment
+param: "some"
 YAML
             ],
             'mixed mapping with compact inline notation on one line' => [