diff --git a/CHANGELOG.md b/CHANGELOG.md
index 42ae765cd5d..c49dbc7574b 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -16,6 +16,8 @@ For notes on migrating to 2.x / 0.200.x see [the upgrade guide](doc/upgrade-to-2
 
 ### :bug: Bug Fixes
 
+* fix(opentelemetry-instrumentation): improve `_warnOnPreloadedModules` function not to show warning logs when the module is not marked as loaded [#6095](https://github.com/open-telemetry/opentelemetry-js/pull/6095) @rlj1202
+
 ### :books: Documentation
 
 ### :house: Internal
diff --git a/experimental/packages/opentelemetry-instrumentation/src/platform/node/instrumentation.ts b/experimental/packages/opentelemetry-instrumentation/src/platform/node/instrumentation.ts
index 352caea916d..802aad8e3fb 100644
--- a/experimental/packages/opentelemetry-instrumentation/src/platform/node/instrumentation.ts
+++ b/experimental/packages/opentelemetry-instrumentation/src/platform/node/instrumentation.ts
@@ -136,7 +136,7 @@ export abstract class InstrumentationBase<
       const { name } = module;
       try {
         const resolvedModule = require.resolve(name);
-        if (require.cache[resolvedModule]) {
+        if (require.cache[resolvedModule]?.loaded) {
           // Module is already cached, which means the instrumentation hook might not work
           this._diag.warn(
             `Module ${name} has been loaded before ${this.instrumentationName} so it might not work, please initialize it before requiring ${name}`