diff --git a/plugins/outputs/prometheus_client/prometheus_client.go b/plugins/outputs/prometheus_client/prometheus_client.go
index c72d93354..c068a5fe7 100644
--- a/plugins/outputs/prometheus_client/prometheus_client.go
+++ b/plugins/outputs/prometheus_client/prometheus_client.go
@@ -254,7 +254,17 @@ func (p *PrometheusClient) Write(metrics []telegraf.Metric) error {
 				}
 				p.fam[mname] = fam
 			} else {
-				if fam.ValueType != vt {
+				// Metrics can be untyped even though the corresponding plugin
+				// creates them with a type.  This happens when the metric was
+				// transferred over the network in a format that does not
+				// preserve value type and received using an input such as a
+				// queue consumer.  To avoid issues we automatically upgrade
+				// value type from untyped to a typed metric.
+				if fam.ValueType == prometheus.UntypedValue {
+					fam.ValueType = vt
+				}
+
+				if vt != prometheus.UntypedValue && fam.ValueType != vt {
 					// Don't return an error since this would be a permanent error
 					log.Printf("Mixed ValueType for measurement %q; dropping point", point.Name())
 					break
diff --git a/plugins/outputs/prometheus_client/prometheus_client_test.go b/plugins/outputs/prometheus_client/prometheus_client_test.go
index 85b6dde5c..5be29a241 100644
--- a/plugins/outputs/prometheus_client/prometheus_client_test.go
+++ b/plugins/outputs/prometheus_client/prometheus_client_test.go
@@ -189,6 +189,56 @@ func TestWrite_MixedValueType(t *testing.T) {
 	require.Equal(t, 1, len(fam.Samples))
 }
 
+func TestWrite_MixedValueTypeUpgrade(t *testing.T) {
+	now := time.Now()
+	p1, err := metric.New(
+		"foo",
+		map[string]string{"a": "x"},
+		map[string]interface{}{"value": 1.0},
+		now,
+		telegraf.Untyped)
+	p2, err := metric.New(
+		"foo",
+		map[string]string{"a": "y"},
+		map[string]interface{}{"value": 2.0},
+		now,
+		telegraf.Gauge)
+	var metrics = []telegraf.Metric{p1, p2}
+
+	client := NewClient()
+	err = client.Write(metrics)
+	require.NoError(t, err)
+
+	fam, ok := client.fam["foo"]
+	require.True(t, ok)
+	require.Equal(t, 2, len(fam.Samples))
+}
+
+func TestWrite_MixedValueTypeDowngrade(t *testing.T) {
+	now := time.Now()
+	p1, err := metric.New(
+		"foo",
+		map[string]string{"a": "x"},
+		map[string]interface{}{"value": 1.0},
+		now,
+		telegraf.Gauge)
+	p2, err := metric.New(
+		"foo",
+		map[string]string{"a": "y"},
+		map[string]interface{}{"value": 2.0},
+		now,
+		telegraf.Untyped)
+	var metrics = []telegraf.Metric{p1, p2}
+
+	client := NewClient()
+	err = client.Write(metrics)
+	require.NoError(t, err)
+
+	fam, ok := client.fam["foo"]
+	require.True(t, ok)
+	require.Equal(t, 2, len(fam.Samples))
+}
+
 func TestWrite_Tags(t *testing.T) {
 	now := time.Now()
 	p1, err := metric.New(