Introduction: Pre-exposure prophylaxis for HIV (PrEP) is a primary prevention strategy that involves the administration of two combined antiretrovirals that have shown high effectiveness in reducing the risk of HIV transmission, mainly in key populations. Materials and methods: An observational study was conducted using a self-administered questionnaire on sociodemographic aspects, sexual behaviors, and the Pre-PrEP Stigma Scale with men who have sex with men (MSM) attending HIV prevention services at a community organization in Panama. The proportion of PrEP acceptability, sociodemographic characteristics, sexual behaviors, and stigma associated with PrEP were measured. Statistical significance tests were used according to the type of variable associated with PrEP acceptance. A bivariate analysis was performed using the odds ratio statistic to measure the strength of association between different factors and PrEP acceptance. Results: PrEP acceptability was found to be 53.9%, with low anticipated stigma associated with prophylaxis and factors such as age, education, nationality, and condom use frequency associated with PrEP acceptability. Conclusions: PrEP acceptability is similar to global and regional estimates. Low anticipated stigma associated with PrEP will allow projections to be made regarding the implementation of this strategy. Additionally, factors related to acceptability such as age, education, nationality, and condom use frequency were identified, coinciding with other studies conducted worldwide.