diff --git a/CHANGELOG.md b/CHANGELOG.md
index 3c21c4726cc..c02ec62168f 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -44,6 +44,7 @@ This project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.htm
 - Exported `Status` codes in the `go.opentelemetry.io/otel/exporters/zipkin` exporter are now exported as all upper case values. (#3340)
 - `Aggregation`s from `go.opentelemetry.io/otel/sdk/metric` with no data are not exported. (#3394, #3436)
 - Reenabled Attribute Filters in the Metric SDK. (#3396)
+- Asynchronous callbacks are only called if they are registered with at least one instrument that does not use drop aggragation. (#3408)
 - Do not report empty partial-success responses in the `go.opentelemetry.io/otel/exporters/otlp` exporters. (#3438, #3432)
 - Handle partial success responses in `go.opentelemetry.io/otel/exporters/otlp/otlpmetric` exporters. (#3162, #3440)
 
diff --git a/sdk/metric/instrument_provider.go b/sdk/metric/instrument_provider.go
index 89c09b22990..25aad6cfc20 100644
--- a/sdk/metric/instrument_provider.go
+++ b/sdk/metric/instrument_provider.go
@@ -15,8 +15,6 @@
 package metric // import "go.opentelemetry.io/otel/sdk/metric"
 
 import (
-	"fmt"
-
 	"go.opentelemetry.io/otel/metric/instrument"
 	"go.opentelemetry.io/otel/metric/instrument/asyncfloat64"
 	"go.opentelemetry.io/otel/metric/instrument/asyncint64"
@@ -70,9 +68,6 @@ func (p *instProvider[N]) lookup(kind view.InstrumentKind, name string, opts []i
 	}
 
 	aggs, err := p.resolve.Aggregators(key)
-	if len(aggs) == 0 && err != nil {
-		err = fmt.Errorf("instrument does not match any view: %w", err)
-	}
 	return &instrumentImpl[N]{aggregators: aggs}, err
 }
 
diff --git a/sdk/metric/meter.go b/sdk/metric/meter.go
index 670049037d4..3f9f30106eb 100644
--- a/sdk/metric/meter.go
+++ b/sdk/metric/meter.go
@@ -73,6 +73,31 @@ func (m *meter) AsyncFloat64() asyncfloat64.InstrumentProvider {
 // RegisterCallback registers the function f to be called when any of the
 // insts Collect method is called.
 func (m *meter) RegisterCallback(insts []instrument.Asynchronous, f func(context.Context)) error {
+	for _, inst := range insts {
+		// Only register if at least one instrument has a non-drop aggregation.
+		// Otherwise, calling f during collection will be wasted computation.
+		switch t := inst.(type) {
+		case *instrumentImpl[int64]:
+			if len(t.aggregators) > 0 {
+				return m.registerCallback(f)
+			}
+		case *instrumentImpl[float64]:
+			if len(t.aggregators) > 0 {
+				return m.registerCallback(f)
+			}
+		default:
+			// Instrument external to the SDK. For example, an instrument from
+			// the "go.opentelemetry.io/otel/metric/internal/global" package.
+			//
+			// Fail gracefully here, assume a valid instrument.
+			return m.registerCallback(f)
+		}
+	}
+	// All insts use drop aggregation.
+	return nil
+}
+
+func (m *meter) registerCallback(f func(context.Context)) error {
 	m.pipes.registerCallback(f)
 	return nil
 }
diff --git a/sdk/metric/meter_test.go b/sdk/metric/meter_test.go
index ff5da4f7e52..6edc58d17ce 100644
--- a/sdk/metric/meter_test.go
+++ b/sdk/metric/meter_test.go
@@ -30,6 +30,7 @@ import (
 	"go.opentelemetry.io/otel/metric/instrument/syncfloat64"
 	"go.opentelemetry.io/otel/metric/instrument/syncint64"
 	"go.opentelemetry.io/otel/sdk/instrumentation"
+	"go.opentelemetry.io/otel/sdk/metric/aggregation"
 	"go.opentelemetry.io/otel/sdk/metric/metricdata"
 	"go.opentelemetry.io/otel/sdk/metric/metricdata/metricdatatest"
 	"go.opentelemetry.io/otel/sdk/metric/view"
@@ -480,6 +481,49 @@ func TestMetersProvideScope(t *testing.T) {
 	metricdatatest.AssertEqual(t, want, got, metricdatatest.IgnoreTimestamp())
 }
 
+func TestRegisterCallbackDropAggregations(t *testing.T) {
+	aggFn := func(view.InstrumentKind) aggregation.Aggregation {
+		return aggregation.Drop{}
+	}
+	r := NewManualReader(WithAggregationSelector(aggFn))
+	mp := NewMeterProvider(WithReader(r))
+	m := mp.Meter("testRegisterCallbackDropAggregations")
+
+	int64Counter, err := m.AsyncInt64().Counter("int64.counter")
+	require.NoError(t, err)
+
+	int64UpDownCounter, err := m.AsyncInt64().UpDownCounter("int64.up_down_counter")
+	require.NoError(t, err)
+
+	int64Gauge, err := m.AsyncInt64().Gauge("int64.gauge")
+	require.NoError(t, err)
+
+	floag64Counter, err := m.AsyncFloat64().Counter("floag64.counter")
+	require.NoError(t, err)
+
+	floag64UpDownCounter, err := m.AsyncFloat64().UpDownCounter("floag64.up_down_counter")
+	require.NoError(t, err)
+
+	floag64Gauge, err := m.AsyncFloat64().Gauge("floag64.gauge")
+	require.NoError(t, err)
+
+	var called bool
+	require.NoError(t, m.RegisterCallback([]instrument.Asynchronous{
+		int64Counter,
+		int64UpDownCounter,
+		int64Gauge,
+		floag64Counter,
+		floag64UpDownCounter,
+		floag64Gauge,
+	}, func(context.Context) { called = true }))
+
+	data, err := r.Collect(context.Background())
+	require.NoError(t, err)
+
+	assert.False(t, called, "callback called for all drop instruments")
+	assert.Len(t, data.ScopeMetrics, 0, "metrics exported for drop instruments")
+}
+
 func TestAttributeFilter(t *testing.T) {
 	one := 1.0
 	two := 2.0
diff --git a/sdk/metric/pipeline.go b/sdk/metric/pipeline.go
index fb651355498..46ad0806bdf 100644
--- a/sdk/metric/pipeline.go
+++ b/sdk/metric/pipeline.go
@@ -438,7 +438,6 @@ func newPipelines(res *resource.Resource, readers []Reader, views []view.View) p
 	return pipes
 }
 
-// TODO (#3053) Only register callbacks if any instrument matches in a view.
 func (p pipelines) registerCallback(fn func(context.Context)) {
 	for _, pipe := range p {
 		pipe.addCallback(fn)