In the last decade, the field of Human-Robot Collaboration (HRC) has received much attention from both research institutions and industries. Robot technologies are in fact deployed in many different areas (e.g., industrial processes, people assistance) to support an effective collaboration between humans and robots. In this transdisciplinary context, User eXperience (UX) has inevitably to be considered to achieve an effective HRC, namely to allow the robots to better respond to the users’ needs and thus improve the interaction quality. The present paper reviews the evaluation scales used in HRC scenarios, focusing on the application context and evaluated aspects. In particular, a systematic review was conducted based on the following questions: (RQ1) which evaluation scales are adopted within the HRI scenario with collaborative tasks?, and (RQ2) how the UX and user satisfaction are assessed?. The records analysis highlighted that the UX aspects are not sufficiently examined in the current HRC design practice, particularly in the industrial field. This is most likely due to a lack of standardized scales. To respond to this recognized need, a set of dimensions to be considered in a new UX evaluation scale were proposed.