Having a burning sensation on the penis is likely to be an allergic reaction to what you have been applying to it and from using latex condoms.
Use the latex free condoms which are available these days.
Only use lubricants that are specifically made for sexual pleasure and those like KY Jelly.
Don't use normal soap, bath and shower gels to wash your private area, this can make the condition worse. Use non perfumed soap, soap with the same pH level as our skin, baby washes should be fine. You can also purchase a moisturising emollient from the pharmacy that you can use instead of soap. Coconut oil should be fine too.
Always wash your hands before touch our penis. And always wash your hands after using the toilet and before eating and touching food.
Only wear cotton comfortable pants. Manmade fabric pants will make you sweat more and cause more aggravation.
Sometimes an infection called Balanitis can happen and the doctor would prescribe the appropriate cream to treat this.
Always wash yourself after having sex and pull back the foreskin to wash any build up of smegma.
As a home remedy you can apply natural set yogurt (the set one is better than the runny one). The yogurt has to be the natural one and plain. You can use this for as long as you need to it.
Ideally making an appointment to see your doctor would be a good idea to get a swab taken to identify any bacteria or fungus that would require treatment.
If a burning sensation is felt when urinating, this would indicate that you may have a urinary tract infection.
Be aware of any risk to getting STDs. Get checked out at the GUM clinic.
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this can be because of some amount of semen remains behind in your urethra.