diff --git a/internal/core/src/query/visitors/ExecPlanNodeVisitor.cpp b/internal/core/src/query/visitors/ExecPlanNodeVisitor.cpp
index 29bcd596c7..671ef9ae56 100644
--- a/internal/core/src/query/visitors/ExecPlanNodeVisitor.cpp
+++ b/internal/core/src/query/visitors/ExecPlanNodeVisitor.cpp
@@ -18,6 +18,7 @@
 #include "query/generated/ExecExprVisitor.h"
 #include "segcore/SegmentGrowing.h"
 #include "utils/Json.h"
+#include "log/Log.h"
 
 namespace milvus::query {
 
diff --git a/internal/querynodev2/segments/retrieve.go b/internal/querynodev2/segments/retrieve.go
index 12310f4f53..7c2932e251 100644
--- a/internal/querynodev2/segments/retrieve.go
+++ b/internal/querynodev2/segments/retrieve.go
@@ -18,31 +18,71 @@ package segments
 
 import (
 	"context"
+	"fmt"
+	"sync"
 
+	"github.com/milvus-io/milvus-proto/go-api/commonpb"
 	"github.com/milvus-io/milvus/internal/proto/segcorepb"
 	"github.com/milvus-io/milvus/internal/storage"
+	"github.com/milvus-io/milvus/pkg/metrics"
+	"github.com/milvus-io/milvus/pkg/util/paramtable"
+	"github.com/milvus-io/milvus/pkg/util/timerecord"
 	. "github.com/milvus-io/milvus/pkg/util/typeutil"
 )
 
 // retrieveOnSegments performs retrieve on listed segments
 // all segment ids are validated before calling this function
 func retrieveOnSegments(ctx context.Context, manager *Manager, segType SegmentType, plan *RetrievePlan, segIDs []UniqueID, vcm storage.ChunkManager) ([]*segcorepb.RetrieveResults, error) {
-	var retrieveResults []*segcorepb.RetrieveResults
+	var (
+		resultCh = make(chan *segcorepb.RetrieveResults, len(segIDs))
+		errs     = make([]error, len(segIDs))
+		wg       sync.WaitGroup
+	)
 
-	for _, segID := range segIDs {
-		segment, _ := manager.Segment.Get(segID).(*LocalSegment)
-		if segment == nil {
-			continue
-		}
-		result, err := segment.Retrieve(ctx, plan)
+	label := metrics.SealedSegmentLabel
+	if segType == commonpb.SegmentState_Growing {
+		label = metrics.GrowingSegmentLabel
+	}
+
+	for i, segID := range segIDs {
+		wg.Add(1)
+		go func(segID int64, i int) {
+			defer wg.Done()
+			segment, _ := manager.Segment.Get(segID).(*LocalSegment)
+			if segment == nil {
+				errs[i] = nil
+				return
+			}
+			tr := timerecord.NewTimeRecorder("retrieveOnSegments")
+			result, err := segment.Retrieve(ctx, plan)
+			if err != nil {
+				errs[i] = err
+				return
+			}
+			if err = segment.FillIndexedFieldsData(ctx, vcm, result); err != nil {
+				errs[i] = err
+				return
+			}
+			errs[i] = nil
+			resultCh <- result
+			metrics.QueryNodeSQSegmentLatency.WithLabelValues(fmt.Sprint(paramtable.GetNodeID()),
+				metrics.QueryLabel, label).Observe(float64(tr.ElapseSpan().Milliseconds()))
+		}(segID, i)
+	}
+	wg.Wait()
+	close(resultCh)
+
+	for _, err := range errs {
 		if err != nil {
 			return nil, err
 		}
-		if err := segment.FillIndexedFieldsData(ctx, vcm, result); err != nil {
-			return nil, err
-		}
+	}
+
+	var retrieveResults []*segcorepb.RetrieveResults
+	for result := range resultCh {
 		retrieveResults = append(retrieveResults, result)
 	}
+
 	return retrieveResults, nil
 }
 
diff --git a/internal/querynodev2/segments/retrieve_test.go b/internal/querynodev2/segments/retrieve_test.go
index a9fd44bb16..b357f4699f 100644
--- a/internal/querynodev2/segments/retrieve_test.go
+++ b/internal/querynodev2/segments/retrieve_test.go
@@ -145,6 +145,33 @@ func (suite *RetrieveSuite) TestRetrieveGrowing() {
 	suite.Len(res[0].Offset, 3)
 }
 
+func (suite *RetrieveSuite) TestRetrieveNonExistSegment() {
+	plan, err := genSimpleRetrievePlan(suite.collection)
+	suite.NoError(err)
+
+	res, _, _, err := RetrieveHistorical(context.TODO(), suite.manager, plan,
+		suite.collectionID,
+		[]int64{suite.partitionID},
+		[]int64{999},
+		nil)
+	suite.NoError(err)
+	suite.Len(res, 0)
+}
+
+func (suite *RetrieveSuite) TestRetrieveNilSegment() {
+	plan, err := genSimpleRetrievePlan(suite.collection)
+	suite.NoError(err)
+
+	DeleteSegment(suite.sealed)
+	res, _, _, err := RetrieveHistorical(context.TODO(), suite.manager, plan,
+		suite.collectionID,
+		[]int64{suite.partitionID},
+		[]int64{suite.sealed.ID()},
+		nil)
+	suite.ErrorIs(err, ErrSegmentReleased)
+	suite.Len(res, 0)
+}
+
 func TestRetrieve(t *testing.T) {
 	suite.Run(t, new(RetrieveSuite))
 }
diff --git a/internal/querynodev2/segments/segment.go b/internal/querynodev2/segments/segment.go
index 5b88d845be..12114ddf19 100644
--- a/internal/querynodev2/segments/segment.go
+++ b/internal/querynodev2/segments/segment.go
@@ -396,6 +396,8 @@ func (s *LocalSegment) Retrieve(ctx context.Context, plan *RetrievePlan) (*segco
 		zap.Int64("collectionID", s.Collection()),
 		zap.Int64("partitionID", s.Partition()),
 		zap.Int64("segmentID", s.ID()),
+		zap.Int64("msgID", plan.msgID),
+		zap.String("segmentType", s.typ.String()),
 	)
 
 	span := trace.SpanFromContext(ctx)
@@ -421,14 +423,10 @@ func (s *LocalSegment) Retrieve(ctx context.Context, plan *RetrievePlan) (*segco
 		)
 		metrics.QueryNodeSQSegmentLatencyInCore.WithLabelValues(fmt.Sprint(paramtable.GetNodeID()),
 			metrics.QueryLabel).Observe(float64(tr.ElapseSpan().Milliseconds()))
+		log.Debug("cgo retrieve done", zap.Duration("timeTaken", tr.ElapseSpan()))
 		return nil, nil
 	}).Await()
 
-	log.Debug("do retrieve on segment",
-		zap.Int64("msgID", plan.msgID),
-		zap.String("segmentType", s.typ.String()),
-	)
-
 	if err := HandleCStatus(&status, "Retrieve failed"); err != nil {
 		return nil, err
 	}
@@ -438,7 +436,7 @@ func (s *LocalSegment) Retrieve(ctx context.Context, plan *RetrievePlan) (*segco
 		return nil, err
 	}
 
-	log.Debug("retrieve result",
+	log.Debug("retrieve segment done",
 		zap.Int("resultNum", len(result.Offset)),
 	)