diff --git a/python/ray/data/_internal/planner/plan_udf_map_op.py b/python/ray/data/_internal/planner/plan_udf_map_op.py
index d1be38f8ac52b..9d7c64c7c56cc 100644
--- a/python/ray/data/_internal/planner/plan_udf_map_op.py
+++ b/python/ray/data/_internal/planner/plan_udf_map_op.py
@@ -320,11 +320,16 @@ def transform_fn(
         output_batch_queue = queue.Queue()
 
         async def process_batch(batch: DataBatch):
-            output_batch_iterator = await fn(batch)
-            # As soon as results become available from the async generator,
-            # put them into the result queue so they can be yielded.
-            async for output_batch in output_batch_iterator:
-                output_batch_queue.put(output_batch)
+            try:
+                output_batch_iterator = await fn(batch)
+                # As soon as results become available from the async generator,
+                # put them into the result queue so they can be yielded.
+                async for output_batch in output_batch_iterator:
+                    output_batch_queue.put(output_batch)
+            except Exception as e:
+                output_batch_queue.put(
+                    e
+                )  # Put the exception into the queue to signal an error
 
         async def process_all_batches():
             loop = ray.data._map_actor_context.udf_map_asyncio_loop
@@ -348,6 +353,8 @@ async def process_all_batches():
             # from the async generator, corresponding to a
             # single row from the input batch.
             out_batch = output_batch_queue.get()
+            if isinstance(out_batch, Exception):
+                raise out_batch
             _validate_batch_output(out_batch)
             yield out_batch
 
@@ -448,7 +455,7 @@ def _create_map_transformer_for_row_based_map_op(
 
 def generate_map_rows_fn(
     target_max_block_size: int,
-) -> (Callable[[Iterator[Block], TaskContext, UserDefinedFunction], Iterator[Block]]):
+) -> Callable[[Iterator[Block], TaskContext, UserDefinedFunction], Iterator[Block]]:
     """Generate function to apply the UDF to each record of blocks."""
     context = DataContext.get_current()
 
@@ -468,7 +475,7 @@ def fn(
 
 def generate_flat_map_fn(
     target_max_block_size: int,
-) -> (Callable[[Iterator[Block], TaskContext, UserDefinedFunction], Iterator[Block]]):
+) -> Callable[[Iterator[Block], TaskContext, UserDefinedFunction], Iterator[Block]]:
     """Generate function to apply the UDF to each record of blocks,
     and then flatten results.
     """
@@ -491,7 +498,7 @@ def fn(
 
 def generate_filter_fn(
     target_max_block_size: int,
-) -> (Callable[[Iterator[Block], TaskContext, UserDefinedFunction], Iterator[Block]]):
+) -> Callable[[Iterator[Block], TaskContext, UserDefinedFunction], Iterator[Block]]:
     """Generate function to apply the UDF to each record of blocks,
     and filter out records that do not satisfy the given predicate.
     """
diff --git a/python/ray/data/tests/test_map.py b/python/ray/data/tests/test_map.py
index 18b36bfb8246a..00a0386ca2e59 100644
--- a/python/ray/data/tests/test_map.py
+++ b/python/ray/data/tests/test_map.py
@@ -1096,6 +1096,29 @@ async def __call__(self, batch):
     assert output == expected_output, (output, expected_output)
 
 
+def test_map_batches_async_exception_propagation(shutdown_only):
+    ray.shutdown()
+    ray.init(num_cpus=2)
+
+    class MyUDF:
+        def __init__(self):
+            pass
+
+        async def __call__(self, batch):
+            # This will trigger an assertion error.
+            assert False
+            yield batch
+
+    ds = ray.data.range(20)
+    ds = ds.map_batches(MyUDF, concurrency=2)
+
+    with pytest.raises(ray.exceptions.RayTaskError) as exc_info:
+        ds.materialize()
+
+    assert "AssertionError" in str(exc_info.value)
+    assert "assert False" in str(exc_info.value)
+
+
 if __name__ == "__main__":
     import sys