Abstract The main driver of the acceleration of solar energetic particles (SEPs) is believed to be shocks driven by coronal mass ejections. Extreme-ultraviolet (EUV) waves are thought to be the propagating footprint of the shock on the solar surface. One of the key questions in SEP research is the timing of the SEP release with respect to the time when the EUV wave magnetically connects with an observer. Taking advantage of close-to-the-Sun measurements by Parker Solar Probe (PSP) and Solar Orbiter (SolO), we investigate an SEP event that occurred on 2021 September 28 and was observed at different locations by SolO, PSP, STEREO-A, and near-Earth spacecraft. During this time, SolO, PSP, and STEREO-A shared similar nominal magnetic footpoints relative to the SEP source region but were at different heliocentric distances. We find that the SEP release times estimated at these four locations were delayed compared to the times when the EUV wave intercepted the footpoints of the nominal magnetic fields connecting to each spacecraft by around 30–60 minutes. Combining observations in multiple wavelengths of radio, white light, and EUV with a geometrical shock model, we analyze the associated shock properties and discuss the acceleration and delayed release processes of SEPs in this event as well as the accuracy and limitations of using EUV waves to determine the SEP acceleration and release times.