diff --git a/src/gallium/drivers/v3d/v3d_query.c b/src/gallium/drivers/v3d/v3d_query.c
index 1a44091f093..797e1677b60 100644
--- a/src/gallium/drivers/v3d/v3d_query.c
+++ b/src/gallium/drivers/v3d/v3d_query.c
@@ -149,6 +149,155 @@ v3d_render_condition(struct pipe_context *pipe,
         v3d->cond_mode = mode;
 }
 
+static void
+extension_set(struct drm_v3d_extension *ext, struct drm_v3d_extension *next,
+              uint32_t id, uintptr_t flags)
+{
+        ext->next = (uintptr_t)(void *)next;
+        ext->id = id;
+        ext->flags = flags;
+}
+
+static struct drm_v3d_sem *
+in_syncs_set(struct v3d_context *v3d, uint32_t *count,
+             struct v3d_submit_sync_info *sync_info)
+{
+        uint32_t nsyncs = sync_info->wait_count;
+
+        *count = nsyncs;
+
+        struct drm_v3d_sem *syncs =
+             rzalloc_array(v3d, struct drm_v3d_sem, *count);
+
+        if (!syncs) return NULL;
+
+        for (int i = 0; i < nsyncs; i++) {
+           syncs[i].handle = sync_info->waits[i];
+        }
+
+        assert(*count == nsyncs);
+
+        return syncs;
+}
+
+static struct drm_v3d_sem *
+out_syncs_set(struct v3d_context *v3d, uint32_t *count,
+              struct v3d_submit_sync_info *sync_info)
+{
+        (*count) = sync_info->signal_count;
+
+        struct drm_v3d_sem *syncs =
+             rzalloc_array(v3d, struct drm_v3d_sem, *count);
+
+        if (!syncs) return NULL;
+
+        for (unsigned i = 0; i < *count; i++) {
+           syncs[i].handle = sync_info->signals[i];
+        }
+
+        return syncs;
+}
+
+static void
+multisync_set(struct v3d_context *v3d, struct drm_v3d_multi_sync *ms,
+              struct v3d_submit_sync_info *sync_info,
+              struct drm_v3d_extension *next, uint32_t wait_stage)
+{
+        uint32_t ocount = 0, icount = 0;
+        struct drm_v3d_sem *out_syncs = NULL, *in_syncs = NULL;
+
+        in_syncs = in_syncs_set(v3d, &icount, sync_info);
+        if (!in_syncs && icount) goto out;
+
+        out_syncs = out_syncs_set(v3d, &ocount, sync_info);
+        if (!out_syncs) goto out;
+
+        extension_set(&ms->base, next, DRM_V3D_EXT_ID_MULTI_SYNC, 0);
+        ms->wait_stage = wait_stage;
+        ms->out_sync_count = ocount;
+        ms->out_syncs = (uintptr_t)(void *)out_syncs;
+        ms->in_sync_count = icount;
+        ms->in_syncs = (uintptr_t)(void *)in_syncs;
+
+        return;
+
+out:
+        fprintf(stderr, "Multisync Set Failed\n");
+        if (in_syncs) {
+           free(in_syncs);
+        }
+}
+
+static void
+multisync_free(struct drm_v3d_multi_sync *ms)
+{
+        ralloc_free((void *)(uintptr_t)ms->out_syncs);
+        ralloc_free((void *)(uintptr_t)ms->in_syncs);
+}
+
+uint64_t
+v3d_get_timestamp(struct pipe_context *pctx)
+{
+        /* Calling glGetInteger64v with GL_TIMESTAMP will return the GPU
+         * timestamp when all previously given commands have issued, but not
+         * necessarily completed
+         */
+        v3d_flush(pctx);
+
+        /* Use os_time_get_nano as all of our timestamps come from the CPU clock */
+        return os_time_get_nano();
+}
+
+void
+v3d_submit_timestamp_query(struct pipe_context *pctx, struct v3d_bo *bo,
+                           uint32_t sync, uint32_t offset)
+{
+        struct v3d_context *v3d = v3d_context(pctx);
+        struct v3d_screen *screen = v3d->screen;
+        int ret;
+
+        /* check for multisync support */
+        assert(screen->has_multisync);
+
+        /* check for a valid bo to store the timestamp result */
+        assert(bo);
+
+        /* check for a valid syncobj */
+        assert(sync);
+
+        struct drm_v3d_timestamp_query timestamp = {0};
+
+        extension_set(&timestamp.base, NULL, DRM_V3D_EXT_ID_CPU_TIMESTAMP_QUERY, 0);
+
+        timestamp.count = 1;
+        timestamp.offsets = (uintptr_t)(void *)&offset;
+        timestamp.syncs = (uintptr_t)(void *)&sync;
+
+        struct v3d_submit_sync_info sync_info = {
+           .wait_count = 1,
+           .waits = &v3d->out_sync,
+           .signal_count = 1,
+           .signals = &v3d->out_sync,
+        };
+
+        struct drm_v3d_multi_sync ms = {0};
+
+        multisync_set(v3d, &ms, &sync_info, (void *)&timestamp, V3D_CPU);
+
+        struct drm_v3d_submit_cpu submit = {0};
+
+        submit.bo_handle_count = 1;
+        submit.bo_handles = (uintptr_t)(void *)&bo->handle;
+        submit.flags |= DRM_V3D_SUBMIT_EXTENSION;
+        submit.extensions = (uintptr_t)(void *)&ms;
+
+        ret = v3d_ioctl(screen->fd, DRM_IOCTL_V3D_SUBMIT_CPU, &submit);
+        if (ret)
+           fprintf(stderr, "Failed to submit cpu job: %s\n", strerror(errno));
+
+        multisync_free(&ms);
+}
+
 void
 v3d_query_init(struct pipe_context *pctx)
 {
@@ -160,4 +309,5 @@ v3d_query_init(struct pipe_context *pctx)
         pctx->get_query_result = v3d_get_query_result;
         pctx->set_active_query_state = v3d_set_active_query_state;
         pctx->render_condition = v3d_render_condition;
+        pctx->get_timestamp = v3d_get_timestamp;
 }
diff --git a/src/gallium/drivers/v3d/v3d_query.h b/src/gallium/drivers/v3d/v3d_query.h
index b2d8124a908..00af47d9659 100644
--- a/src/gallium/drivers/v3d/v3d_query.h
+++ b/src/gallium/drivers/v3d/v3d_query.h
@@ -41,8 +41,18 @@ struct v3d_query
         const struct v3d_query_funcs *funcs;
 };
 
+struct v3d_submit_sync_info
+{
+        uint32_t wait_count;
+        uint32_t *waits;
+        uint32_t signal_count;
+        uint32_t *signals;
+};
+
 struct pipe_query *v3d_create_query_pipe(struct v3d_context *v3d, unsigned query_type, unsigned index);
 struct pipe_query *v3d_create_batch_query_pipe(struct v3d_context *v3d, unsigned num_queries,
                                                unsigned *query_types);
+uint64_t v3d_get_timestamp(struct pipe_context *pctx);
+void v3d_submit_timestamp_query(struct pipe_context *pctx, struct v3d_bo *bo, uint32_t sync, uint32_t offset);
 
 #endif /* V3D_QUERY_H */
diff --git a/src/gallium/drivers/v3d/v3d_query_pipe.c b/src/gallium/drivers/v3d/v3d_query_pipe.c
index 7618daaba70..aa457cfa3fc 100644
--- a/src/gallium/drivers/v3d/v3d_query_pipe.c
+++ b/src/gallium/drivers/v3d/v3d_query_pipe.c
@@ -44,6 +44,10 @@ struct v3d_query_pipe
 
         uint32_t start, end;
         uint32_t result;
+
+        /* these fields are used for timestamp queries */
+        uint64_t time_result;
+        uint32_t sync[1];
 };
 
 static void
@@ -51,6 +55,8 @@ v3d_destroy_query_pipe(struct v3d_context *v3d, struct v3d_query *query)
 {
         struct v3d_query_pipe *pquery = (struct v3d_query_pipe *)query;
 
+        if (pquery->sync[0])
+               drmSyncobjDestroy(v3d->fd, pquery->sync[0]);
         v3d_bo_unreference(&pquery->bo);
         free(pquery);
 }
@@ -129,6 +135,21 @@ v3d_end_query_pipe(struct v3d_context *v3d, struct v3d_query *query)
                 v3d->current_oq = NULL;
                 v3d->dirty |= V3D_DIRTY_OQ;
                 break;
+        case PIPE_QUERY_TIMESTAMP:
+                /* Mesa only calls EndQuery and not BeginQuery for regular
+                 * timestamp queries
+                 *
+                 * This will store into the query object the time when the GPU
+                 * will have completed all previously issued commands.
+                 */
+                assert(pquery->bo);
+
+                /* flush any pending jobs */
+                v3d_flush(&v3d->base);
+
+                /* submit timestamp query to cpu queue */
+                v3d_submit_timestamp_query(&v3d->base, pquery->bo, pquery->sync[0], 0);
+                break;
         default:
                 unreachable("unsupported query type");
         }
@@ -143,21 +164,35 @@ v3d_get_query_result_pipe(struct v3d_context *v3d, struct v3d_query *query,
         struct v3d_query_pipe *pquery = (struct v3d_query_pipe *)query;
 
         if (pquery->bo) {
-                v3d_flush_jobs_using_bo(v3d, pquery->bo);
+                /* For timestamp queries we already flush relevant jobs
+                 * before submitting the query */
+                if (pquery->type != PIPE_QUERY_TIMESTAMP)
+                        v3d_flush_jobs_using_bo(v3d, pquery->bo);
 
                 if (wait) {
                         if (!v3d_bo_wait(pquery->bo, ~0ull, "query"))
                                 return false;
+                        assert(pquery->type != PIPE_QUERY_TIMESTAMP ||
+                               drmSyncobjWait(v3d->fd, &pquery->sync[0], 1, 0,
+                                              0, NULL) != -ETIME);
                 } else {
                         if (!v3d_bo_wait(pquery->bo, 0, "query"))
                                 return false;
                 }
 
-                /* XXX: Sum up per-core values. */
-                uint32_t *map = v3d_bo_map(pquery->bo);
-                pquery->result = *map;
+                if (pquery->type == PIPE_QUERY_TIMESTAMP) {
+                        uint64_t *map = v3d_bo_map(pquery->bo);
+                        pquery->time_result = *map;
+                } else {
+                        /* XXX: Sum up per-core values. */
+                        uint32_t *map = v3d_bo_map(pquery->bo);
+                        pquery->result = *map;
 
-                v3d_bo_unreference(&pquery->bo);
+                        /* FIXME: we should move creation and destruction of
+                         * the BO for all queries to query create/destruction,
+                         * like we do with timestamps */
+                        v3d_bo_unreference(&pquery->bo);
+                }
         }
 
         switch (pquery->type) {
@@ -172,6 +207,9 @@ v3d_get_query_result_pipe(struct v3d_context *v3d, struct v3d_query *query,
         case PIPE_QUERY_PRIMITIVES_EMITTED:
                 vresult->u64 = pquery->end - pquery->start;
                 break;
+        case PIPE_QUERY_TIMESTAMP:
+                vresult->u64 = pquery->time_result;
+                break;
         default:
                 unreachable("unsupported query type");
         }
@@ -198,6 +236,21 @@ v3d_create_query_pipe(struct v3d_context *v3d, unsigned query_type, unsigned ind
         pquery->type = query_type;
         query->funcs = &pipe_query_funcs;
 
+        /* FIXME: we should probably allocate BOs for occlusion queries here
+         * as well
+         */
+        switch (pquery->type) {
+        case PIPE_QUERY_TIMESTAMP:
+                pquery->bo = v3d_bo_alloc(v3d->screen, 4096, "query");
+                uint32_t *map = v3d_bo_map(pquery->bo);
+                *map = 0;
+
+                drmSyncobjCreate(v3d->fd, 0, &pquery->sync[0]);
+                break;
+        default:
+                break;
+        }
+
         /* Note that struct pipe_query isn't actually defined anywhere. */
         return (struct pipe_query *)query;
 }
diff --git a/src/gallium/drivers/v3d/v3d_screen.c b/src/gallium/drivers/v3d/v3d_screen.c
index 8b0268b522a..40a82958795 100644
--- a/src/gallium/drivers/v3d/v3d_screen.c
+++ b/src/gallium/drivers/v3d/v3d_screen.c
@@ -159,7 +159,8 @@ v3d_screen_get_param(struct pipe_screen *pscreen, enum pipe_cap param)
         case PIPE_CAP_POLYGON_OFFSET_CLAMP:
         case PIPE_CAP_TEXTURE_QUERY_LOD:
                 return 1;
-
+        case PIPE_CAP_QUERY_TIMESTAMP:
+                return screen->has_cpu_queue && screen->has_multisync;
         case PIPE_CAP_TEXTURE_SAMPLER_INDEPENDENT:
                 return 0;