Praise be to Allaah ﷻ!
Fear of Allaah is of two types; the one which makes you fear Him and perform righteous deeds and give up evil one, this is appreciable. As for the other fear, that is being despaired of His Mercy and losing all hope, then it is blameworthy fear.
A Muslim, combines his fear with hope! The Messenger of Allaah ﷺ has commanded us in a hadith saying, ‘none of you should die except thinking positively of Allaah (husn ad-dhan).’
So combine you fear with hope and call upon Allaah with His beautiful names, pray the night prayer and make a lot of supplication. Remember, the one who fears other than Allaah would be afraid of his own shadow!
Allaah Says in Surah Al-Imraan: “so fear them not, but fear Me, if you are (true) believers”.
And as for the guilt part, then remember nothing is more beloved to the Shaytaan than a depressed believer! Think positively of Allaah and no amount of sin should make you give up upon the soothing Mercy of Allaah! As mentioned in a hadith, Allaah forgave the one who murdered a 100 people.
And the Most Merciful Says in Surah Zumar: “Say: “O Ibadee (My slaves) who have transgressed against themselves (by committing evil deeds and sins)! Despair not of the Mercy of Allaah, verily Allaah forgives all sins. Truly, He is Oft-Forgiving, Most Merciful”
And Allaah ﷻ Knows Best!