diff --git a/pandas/io/parsers.py b/pandas/io/parsers.py
index bd0649a7a85f3..bc7002c6b89b0 100644
--- a/pandas/io/parsers.py
+++ b/pandas/io/parsers.py
@@ -972,7 +972,7 @@ def __init__(self, src, **kwds):
 
         if self.names is None:
             if self.prefix:
-                self.names = ['X%d' % i
+                self.names = ['%s%d' % (self.prefix, i)
                               for i in range(self._reader.table_width)]
             else:
                 self.names = lrange(self._reader.table_width)
@@ -1563,7 +1563,7 @@ def _infer_columns(self):
             num_original_columns = ncols
             if not names:
                 if self.prefix:
-                    columns = [['X%d' % i for i in range(ncols)]]
+                    columns = [['%s%d' % (self.prefix, i) for i in range(ncols)]]
                 else:
                     columns = [lrange(ncols)]
                 columns = self._handle_usecols(columns, columns[0])
diff --git a/pandas/io/tests/test_parsers.py b/pandas/io/tests/test_parsers.py
index 93a26b70a019e..4f52f4c2fdbe4 100644
--- a/pandas/io/tests/test_parsers.py
+++ b/pandas/io/tests/test_parsers.py
@@ -2072,6 +2072,24 @@ def test_catch_too_many_names(self):
 10,11,12\n"""
         tm.assertRaises(Exception, read_csv, StringIO(data), header=0, names=['a', 'b', 'c', 'd'])
 
+    def test_with_prefix(self):
+        # Issue 5732
+        data = """\
+1,2,3
+4,,6
+7,8,9
+10,11,12\n"""
+        result = self.read_csv(StringIO(data), header=None, prefix="abc")
+        tm.assert_equal(list(result.columns), ['abc0', 'abc1', 'abc2'])
+
+        # Test ignore prefix if not inferring headers.
+        result = self.read_csv(StringIO(data), prefix="abc")
+        tm.assert_equal(list(result.columns), ['1', '2', '3'])
+
+        # Test ignore prefix if not inferring headers.
+        result = self.read_csv(StringIO(data), prefix="abc", names=['a', 'b', 'c'])
+        tm.assert_equal(list(result.columns), ['a', 'b', 'c'])
+
 
 class TestPythonParser(ParserTests, tm.TestCase):
     def test_negative_skipfooter_raises(self):