Random union sets $Z$ associated with stationary Poisson processes of $k$-cylinders in $\mathbb{R}^d$ are considered. Under general conditions on the typical cylinder base a concentration inequality for the volume of $Z$ restricted to a compact window is derived. Assuming convexity of the typical cylinder base and isotropy of $Z$ a concentration inequality for intrinsic volumes of arbitrary order is established. A number of special cases are discussed, for example the case when the cylinder bases arise from a random rotation of a fixed convex body. Also the situation of expanding windows is studied. Special attention is payed to the case $k=0$, which corresponds to the classical Boolean model.