diff --git a/docs/pages/material-ui/api/collapse.json b/docs/pages/material-ui/api/collapse.json
index 88adc7e4f91873..539424730bef55 100644
--- a/docs/pages/material-ui/api/collapse.json
+++ b/docs/pages/material-ui/api/collapse.json
@@ -19,6 +19,20 @@
       "type": { "name": "enum", "description": "'horizontal'<br>&#124;&nbsp;'vertical'" },
       "default": "'vertical'"
     },
+    "slotProps": {
+      "type": {
+        "name": "shape",
+        "description": "{ root?: func<br>&#124;&nbsp;object, wrapper?: func<br>&#124;&nbsp;object, wrapperInner?: func<br>&#124;&nbsp;object }"
+      },
+      "default": "{}"
+    },
+    "slots": {
+      "type": {
+        "name": "shape",
+        "description": "{ root?: elementType, wrapper?: elementType, wrapperInner?: elementType }"
+      },
+      "default": "{}"
+    },
     "sx": {
       "type": {
         "name": "union",
@@ -39,6 +53,26 @@
     "import Collapse from '@mui/material/Collapse';",
     "import { Collapse } from '@mui/material';"
   ],
+  "slots": [
+    {
+      "name": "root",
+      "description": "The component that renders the root.",
+      "default": "'div'",
+      "class": "MuiCollapse-root"
+    },
+    {
+      "name": "wrapper",
+      "description": "The component that renders the wrapper.",
+      "default": "'div'",
+      "class": "MuiCollapse-wrapper"
+    },
+    {
+      "name": "wrapperInner",
+      "description": "The component that renders the inner wrapper.",
+      "default": "'div'",
+      "class": "MuiCollapse-wrapperInner"
+    }
+  ],
   "classes": [
     {
       "key": "entered",
@@ -57,24 +91,6 @@
       "className": "MuiCollapse-horizontal",
       "description": "State class applied to the root element if `orientation=\"horizontal\"`.",
       "isGlobal": false
-    },
-    {
-      "key": "root",
-      "className": "MuiCollapse-root",
-      "description": "Styles applied to the root element.",
-      "isGlobal": false
-    },
-    {
-      "key": "wrapper",
-      "className": "MuiCollapse-wrapper",
-      "description": "Styles applied to the outer wrapper element.",
-      "isGlobal": false
-    },
-    {
-      "key": "wrapperInner",
-      "className": "MuiCollapse-wrapperInner",
-      "description": "Styles applied to the inner wrapper element.",
-      "isGlobal": false
     }
   ],
   "spread": true,
diff --git a/docs/translations/api-docs/collapse/collapse.json b/docs/translations/api-docs/collapse/collapse.json
index f3bcd44dc8b552..3cee03c5880cba 100644
--- a/docs/translations/api-docs/collapse/collapse.json
+++ b/docs/translations/api-docs/collapse/collapse.json
@@ -18,6 +18,8 @@
     },
     "in": { "description": "If <code>true</code>, the component will transition in." },
     "orientation": { "description": "The transition orientation." },
+    "slotProps": { "description": "The props used for each slot inside." },
+    "slots": { "description": "The components used for each slot inside." },
     "sx": {
       "description": "The system prop that allows defining system overrides as well as additional CSS styles."
     },
@@ -40,15 +42,11 @@
       "description": "State class applied to {{nodeName}} if {{conditions}}.",
       "nodeName": "the root element",
       "conditions": "<code>orientation=\"horizontal\"</code>"
-    },
-    "root": { "description": "Styles applied to the root element." },
-    "wrapper": {
-      "description": "Styles applied to {{nodeName}}.",
-      "nodeName": "the outer wrapper element"
-    },
-    "wrapperInner": {
-      "description": "Styles applied to {{nodeName}}.",
-      "nodeName": "the inner wrapper element"
     }
+  },
+  "slotDescriptions": {
+    "root": "The component that renders the root.",
+    "wrapper": "The component that renders the wrapper.",
+    "wrapperInner": "The component that renders the inner wrapper."
   }
 }
diff --git a/packages/mui-material/src/Collapse/Collapse.d.ts b/packages/mui-material/src/Collapse/Collapse.d.ts
index bdab394f7fa3fd..46f3ae39a62cc8 100644
--- a/packages/mui-material/src/Collapse/Collapse.d.ts
+++ b/packages/mui-material/src/Collapse/Collapse.d.ts
@@ -1,11 +1,48 @@
 import * as React from 'react';
 import { SxProps } from '@mui/system';
+import { TransitionStatus } from 'react-transition-group';
 import { Theme } from '../styles';
 import { InternalStandardProps as StandardProps } from '../internal';
 import { TransitionProps } from '../transitions/transition';
 import { CollapseClasses } from './collapseClasses';
+import { CreateSlotsAndSlotProps, SlotProps } from '../utils/types';
 
-export interface CollapseProps extends StandardProps<TransitionProps, 'timeout'> {
+export interface CollapseSlots {
+  /**
+   * The component that renders the root.
+   * @default 'div'
+   */
+  root?: React.ElementType;
+  /**
+   * The component that renders the wrapper.
+   * @default 'div'
+   */
+  wrapper?: React.ElementType;
+  /**
+   * The component that renders the inner wrapper.
+   * @default 'div'
+   */
+  wrapperInner?: React.ElementType;
+}
+
+export interface CollapseRootSlotPropsOverrides {}
+
+export interface CollapseWrapperSlotPropsOverrides {}
+
+export interface CollapseWrapperInnerSlotPropsOverrides {}
+
+export type CollapseSlotsAndSlotProps = CreateSlotsAndSlotProps<
+  CollapseSlots,
+  {
+    root: SlotProps<'div', CollapseRootSlotPropsOverrides, CollapseOwnerState>;
+    wrapper: SlotProps<'div', CollapseWrapperSlotPropsOverrides, CollapseOwnerState>;
+    wrapperInner: SlotProps<'div', CollapseWrapperInnerSlotPropsOverrides, CollapseOwnerState>;
+  }
+>;
+
+export interface CollapseProps
+  extends StandardProps<TransitionProps, 'timeout'>,
+    CollapseSlotsAndSlotProps {
   /**
    * The content node to be collapsed.
    */
@@ -53,6 +90,10 @@ export interface CollapseProps extends StandardProps<TransitionProps, 'timeout'>
   sx?: SxProps<Theme>;
 }
 
+export interface CollapseOwnerState extends CollapseProps {
+  state: TransitionStatus;
+}
+
 /**
  * The Collapse transition is used by the
  * [Vertical Stepper](https://mui.com/material-ui/react-stepper/#vertical-stepper) StepContent component.
diff --git a/packages/mui-material/src/Collapse/Collapse.js b/packages/mui-material/src/Collapse/Collapse.js
index d401f5fd822f5c..d2766ab7263a3e 100644
--- a/packages/mui-material/src/Collapse/Collapse.js
+++ b/packages/mui-material/src/Collapse/Collapse.js
@@ -12,6 +12,7 @@ import { useDefaultProps } from '../DefaultPropsProvider';
 import { duration } from '../styles/createTransitions';
 import { getTransitionProps } from '../transitions/utils';
 import { useForkRef } from '../utils';
+import useSlot from '../utils/useSlot';
 import { getCollapseUtilityClass } from './collapseClasses';
 
 const useUtilityClasses = (ownerState) => {
@@ -149,6 +150,8 @@ const Collapse = React.forwardRef(function Collapse(inProps, ref) {
     onExited,
     onExiting,
     orientation = 'vertical',
+    slots = {},
+    slotProps = {},
     style,
     timeout = duration.standard,
     // eslint-disable-next-line react/prop-types
@@ -292,6 +295,41 @@ const Collapse = React.forwardRef(function Collapse(inProps, ref) {
     }
   };
 
+  const externalForwardedProps = {
+    slots,
+    slotProps,
+    component,
+  };
+
+  const [RootSlot, rootSlotProps] = useSlot('root', {
+    ref: handleRef,
+    className: clsx(classes.root, className),
+    elementType: CollapseRoot,
+    externalForwardedProps,
+    ownerState,
+    additionalProps: {
+      style: {
+        [isHorizontal ? 'minWidth' : 'minHeight']: collapsedSize,
+        ...style,
+      },
+    },
+  });
+
+  const [WrapperSlot, wrapperSlotProps] = useSlot('wrapper', {
+    ref: wrapperRef,
+    className: classes.wrapper,
+    elementType: CollapseWrapper,
+    externalForwardedProps,
+    ownerState,
+  });
+
+  const [WrapperInnerSlot, wrapperInnerSlotProps] = useSlot('wrapperInner', {
+    className: classes.wrapperInner,
+    elementType: CollapseWrapperInner,
+    externalForwardedProps,
+    ownerState,
+  });
+
   return (
     <TransitionComponent
       in={inProp}
@@ -307,39 +345,26 @@ const Collapse = React.forwardRef(function Collapse(inProps, ref) {
       {...other}
     >
       {/* Destructure child props to prevent the component's "ownerState" from being overridden by incomingOwnerState. */}
-      {(state, { ownerState: incomingOwnerState, ...restChildProps }) => (
-        <CollapseRoot
-          as={component}
-          className={clsx(
-            classes.root,
-            {
+      {(state, { ownerState: incomingOwnerState, ...restChildProps }) => {
+        const stateOwnerState = { ...ownerState, state };
+        return (
+          <RootSlot
+            {...rootSlotProps}
+            className={clsx(rootSlotProps.className, {
               [classes.entered]: state === 'entered',
               [classes.hidden]: state === 'exited' && !inProp && collapsedSize === '0px',
-            },
-            className,
-          )}
-          style={{
-            [isHorizontal ? 'minWidth' : 'minHeight']: collapsedSize,
-            ...style,
-          }}
-          ref={handleRef}
-          ownerState={{ ...ownerState, state }}
-          {...restChildProps}
-        >
-          <CollapseWrapper
-            ownerState={{ ...ownerState, state }}
-            className={classes.wrapper}
-            ref={wrapperRef}
+            })}
+            ownerState={stateOwnerState}
+            {...restChildProps}
           >
-            <CollapseWrapperInner
-              ownerState={{ ...ownerState, state }}
-              className={classes.wrapperInner}
-            >
-              {children}
-            </CollapseWrapperInner>
-          </CollapseWrapper>
-        </CollapseRoot>
-      )}
+            <WrapperSlot {...wrapperSlotProps} ownerState={stateOwnerState}>
+              <WrapperInnerSlot {...wrapperInnerSlotProps} ownerState={stateOwnerState}>
+                {children}
+              </WrapperInnerSlot>
+            </WrapperSlot>
+          </RootSlot>
+        );
+      }}
     </TransitionComponent>
   );
 });
@@ -421,6 +446,24 @@ Collapse.propTypes /* remove-proptypes */ = {
    * @default 'vertical'
    */
   orientation: PropTypes.oneOf(['horizontal', 'vertical']),
+  /**
+   * The props used for each slot inside.
+   * @default {}
+   */
+  slotProps: PropTypes.shape({
+    root: PropTypes.oneOfType([PropTypes.func, PropTypes.object]),
+    wrapper: PropTypes.oneOfType([PropTypes.func, PropTypes.object]),
+    wrapperInner: PropTypes.oneOfType([PropTypes.func, PropTypes.object]),
+  }),
+  /**
+   * The components used for each slot inside.
+   * @default {}
+   */
+  slots: PropTypes.shape({
+    root: PropTypes.elementType,
+    wrapper: PropTypes.elementType,
+    wrapperInner: PropTypes.elementType,
+  }),
   /**
    * @ignore
    */
diff --git a/packages/mui-material/src/Collapse/Collapse.test.js b/packages/mui-material/src/Collapse/Collapse.test.js
index 24896c949a6a48..d46b25e9cc251b 100644
--- a/packages/mui-material/src/Collapse/Collapse.test.js
+++ b/packages/mui-material/src/Collapse/Collapse.test.js
@@ -1,3 +1,4 @@
+import * as React from 'react';
 import { expect } from 'chai';
 import { spy, stub } from 'sinon';
 import { act, createRenderer } from '@mui/internal-test-utils';
@@ -6,6 +7,16 @@ import { ThemeProvider, createTheme } from '@mui/material/styles';
 import Collapse, { collapseClasses as classes } from '@mui/material/Collapse';
 import describeConformance from '../../test/describeConformance';
 
+const CustomCollapse = React.forwardRef(({ ownerState, ...props }, ref) => (
+  <div ref={ref} {...props} />
+));
+const CustomWrapper = React.forwardRef(({ ownerState, ...props }, ref) => (
+  <div ref={ref} {...props} />
+));
+const CustomWrapperInner = React.forwardRef(({ ownerState, ...props }, ref) => (
+  <div ref={ref} {...props} />
+));
+
 describe('<Collapse />', () => {
   const { clock, render } = createRenderer();
 
@@ -22,6 +33,14 @@ describe('<Collapse />', () => {
     muiName: 'MuiCollapse',
     testVariantProps: { orientation: 'horizontal' },
     testDeepOverrides: { slotName: 'wrapper', slotClassName: classes.wrapper },
+    slots: {
+      root: { expectedClassName: classes.root, testWithElement: CustomCollapse },
+      wrapper: { expectedClassName: classes.wrapper, testWithElement: CustomWrapper },
+      wrapperInner: {
+        expectedClassName: classes.wrapperInner,
+        testWithElement: CustomWrapperInner,
+      },
+    },
     skip: ['componentsProp'],
   }));