diff --git a/core/src/main/scala/org/apache/spark/util/AccumulatorV2.scala b/core/src/main/scala/org/apache/spark/util/AccumulatorV2.scala
index 16e58ad8f6a11..181033c9d20c8 100644
--- a/core/src/main/scala/org/apache/spark/util/AccumulatorV2.scala
+++ b/core/src/main/scala/org/apache/spark/util/AccumulatorV2.scala
@@ -157,6 +157,10 @@ abstract class AccumulatorV2[IN, OUT] extends Serializable {
    */
   def value: OUT
 
+  // Serialize the buffer of this accumulator before sending back this accumulator to the driver.
+  // By default this method does nothing.
+  protected def withBufferSerialized(): AccumulatorV2[IN, OUT] = this
+
   // Called by Java when serializing an object
   final protected def writeReplace(): Any = {
     if (atDriverSide) {
@@ -179,7 +183,7 @@ abstract class AccumulatorV2[IN, OUT] extends Serializable {
       }
       copyAcc
     } else {
-      this
+      withBufferSerialized()
     }
   }
 
diff --git a/sql/catalyst/src/main/scala/org/apache/spark/sql/catalyst/expressions/aggregate/ApproximatePercentile.scala b/sql/catalyst/src/main/scala/org/apache/spark/sql/catalyst/expressions/aggregate/ApproximatePercentile.scala
index 8cce79c43c533..3eeee557287d3 100644
--- a/sql/catalyst/src/main/scala/org/apache/spark/sql/catalyst/expressions/aggregate/ApproximatePercentile.scala
+++ b/sql/catalyst/src/main/scala/org/apache/spark/sql/catalyst/expressions/aggregate/ApproximatePercentile.scala
@@ -276,7 +276,7 @@ object ApproximatePercentile {
   }
 
   /**
-   * Serializer  for class [[PercentileDigest]]
+   * Serializer for class [[PercentileDigest]]
    *
    * This class is thread safe.
    */
diff --git a/sql/core/src/main/scala/org/apache/spark/sql/execution/AggregatingAccumulator.scala b/sql/core/src/main/scala/org/apache/spark/sql/execution/AggregatingAccumulator.scala
index f884e8efad363..d528e9114baa6 100644
--- a/sql/core/src/main/scala/org/apache/spark/sql/execution/AggregatingAccumulator.scala
+++ b/sql/core/src/main/scala/org/apache/spark/sql/execution/AggregatingAccumulator.scala
@@ -163,9 +163,18 @@ class AggregatingAccumulator private(
             i += 1
           }
           i = 0
-          while (i < typedImperatives.length) {
-            typedImperatives(i).mergeBuffersObjects(buffer, otherBuffer)
-            i += 1
+          if (isAtDriverSide) {
+            while (i < typedImperatives.length) {
+              // The input buffer stores serialized data
+              typedImperatives(i).merge(buffer, otherBuffer)
+              i += 1
+            }
+          } else {
+            while (i < typedImperatives.length) {
+              // The input buffer stores deserialized object
+              typedImperatives(i).mergeBuffersObjects(buffer, otherBuffer)
+              i += 1
+            }
           }
         case _ =>
           throw QueryExecutionErrors.cannotMergeClassWithOtherClassError(
@@ -188,6 +197,17 @@ class AggregatingAccumulator private(
     resultProjection(input)
   }
 
+  override def withBufferSerialized(): AggregatingAccumulator = {
+    assert(!isAtDriverSide)
+    var i = 0
+    // AggregatingAccumulator runs on executor, we should serialize all TypedImperativeAggregate.
+    while (i < typedImperatives.length) {
+      typedImperatives(i).serializeAggregateBufferInPlace(buffer)
+      i += 1
+    }
+    this
+  }
+
   /**
    * Get the output schema of the aggregating accumulator.
    */
diff --git a/sql/core/src/test/scala/org/apache/spark/sql/DatasetSuite.scala b/sql/core/src/test/scala/org/apache/spark/sql/DatasetSuite.scala
index a46ef5d8e9cdb..2ca3f202a6e94 100644
--- a/sql/core/src/test/scala/org/apache/spark/sql/DatasetSuite.scala
+++ b/sql/core/src/test/scala/org/apache/spark/sql/DatasetSuite.scala
@@ -754,6 +754,19 @@ class DatasetSuite extends QueryTest
     assert(err2.getMessage.contains("Name must not be empty"))
   }
 
+  test("SPARK-37203: Fix NotSerializableException when observe with TypedImperativeAggregate") {
+    def observe[T](df: Dataset[T], expected: Map[String, _]): Unit = {
+      val namedObservation = Observation("named")
+      val observed_df = df.observe(
+        namedObservation, percentile_approx($"id", lit(0.5), lit(100)).as("percentile_approx_val"))
+      observed_df.collect()
+      assert(namedObservation.get === expected)
+    }
+
+    observe(spark.range(100), Map("percentile_approx_val" -> 49))
+    observe(spark.range(0), Map("percentile_approx_val" -> null))
+  }
+
   test("sample with replacement") {
     val n = 100
     val data = sparkContext.parallelize(1 to n, 2).toDS()
diff --git a/sql/core/src/test/scala/org/apache/spark/sql/streaming/StreamingQueryListenerSuite.scala b/sql/core/src/test/scala/org/apache/spark/sql/streaming/StreamingQueryListenerSuite.scala
index cf1b6bcd0318c..e729fe32ebafa 100644
--- a/sql/core/src/test/scala/org/apache/spark/sql/streaming/StreamingQueryListenerSuite.scala
+++ b/sql/core/src/test/scala/org/apache/spark/sql/streaming/StreamingQueryListenerSuite.scala
@@ -417,7 +417,8 @@ class StreamingQueryListenerSuite extends StreamTest with BeforeAndAfter {
         min($"value").as("min_val"),
         max($"value").as("max_val"),
         sum($"value").as("sum_val"),
-        count(when($"value" % 2 === 0, 1)).as("num_even"))
+        count(when($"value" % 2 === 0, 1)).as("num_even"),
+        percentile_approx($"value", lit(0.5), lit(100)).as("percentile_approx_val"))
       .observe(
         name = "other_event",
         avg($"value").cast("int").as("avg_val"))
@@ -444,7 +445,7 @@ class StreamingQueryListenerSuite extends StreamTest with BeforeAndAfter {
         AddData(inputData, 1, 2),
         AdvanceManualClock(100),
         checkMetrics { metrics =>
-          assert(metrics.get("my_event") === Row(1, 2, 3L, 1L))
+          assert(metrics.get("my_event") === Row(1, 2, 3L, 1L, 1))
           assert(metrics.get("other_event") === Row(1))
         },
 
@@ -452,7 +453,7 @@ class StreamingQueryListenerSuite extends StreamTest with BeforeAndAfter {
         AddData(inputData, 10, 30, -10, 5),
         AdvanceManualClock(100),
         checkMetrics { metrics =>
-          assert(metrics.get("my_event") === Row(-10, 30, 35L, 3L))
+          assert(metrics.get("my_event") === Row(-10, 30, 35L, 3L, 5))
           assert(metrics.get("other_event") === Row(8))
         },