How do you cope with asking for help?

I have a hard time dealing with not being the smartest in the room or as smart as everyone in the room. As I have gotten older it has gotten harder and at times I feel intimidated and jealous of people who are smarter than me. I have a hard time asking for help as I feel that I am being judged negatively for not knowing. It has affected me professionally and personally. I feel I am totally inventing thoughts and feelings judgements from others.