I used to wake up like that every morning. It was awful (understatement). I went to a psych and she made me get up every morning and go to the gym, no matter how terrified I felt. It was a bit extreme but after about two months I just did it automatically and now I don't wake up with panic anymore, I just get up and go to the gym.
It is heaven to have no waking anxiety. This may be a bit too much for you (if you have more important things to do in the morning!) but I suggest, you just get up, try and ignore the panic and get into a routine that you are not allowed to break out of even if you are panicking. It really freed me!!
Best of luck machelle, I hope this panic eases xx