diff --git a/internal/consensus/metrics.go b/internal/consensus/metrics.go
index a75f1505c..dbefb9a5b 100644
--- a/internal/consensus/metrics.go
+++ b/internal/consensus/metrics.go
@@ -64,6 +64,22 @@ type Metrics struct {
 
 	// Histogram of time taken per step annotated with reason that the step proceeded.
 	StepTime metrics.Histogram
+
+	// QuroumPrevoteMessageDelay is the interval in seconds between the proposal
+	// timestamp and the timestamp of the earliest prevote that achieved a quorum
+	// during the prevote step.
+	//
+	// To compute it, sum the voting power over each prevote received, in increasing
+	// order of timestamp. The timestamp of the first prevote to increase the sum to
+	// be above 2/3 of the total voting power of the network defines the endpoint
+	// the endpoint of the interval. Subtract the proposal timestamp from this endpoint
+	// to obtain the quorum delay.
+	QuorumPrevoteMessageDelay metrics.Gauge
+
+	// FullPrevoteMessageDelay is the interval in seconds between the proposal
+	// timestamp and the timestamp of the latest prevote in a round where 100%
+	// of the voting power on the network issued prevotes.
+	FullPrevoteMessageDelay metrics.Gauge
 }
 
 // PrometheusMetrics returns Metrics build using Prometheus client library.
@@ -196,6 +212,20 @@ func PrometheusMetrics(namespace string, labelsAndValues ...string) *Metrics {
 			Name:      "step_time",
 			Help:      "Time spent per step.",
 		}, append(labels, "step", "reason")).With(labelsAndValues...),
+		QuorumPrevoteMessageDelay: prometheus.NewGaugeFrom(stdprometheus.GaugeOpts{
+			Namespace: namespace,
+			Subsystem: MetricsSubsystem,
+			Name:      "quorum_prevote_message_delay",
+			Help: "Difference in seconds between the proposal timestamp and the timestamp " +
+				"of the latest prevote that achieved a quorum in the prevote step.",
+		}, labels).With(labelsAndValues...),
+		FullPrevoteMessageDelay: prometheus.NewGaugeFrom(stdprometheus.GaugeOpts{
+			Namespace: namespace,
+			Subsystem: MetricsSubsystem,
+			Name:      "full_prevote_message_delay",
+			Help: "Difference in seconds between the proposal timestamp and the timestamp " +
+				"of the latest prevote that achieved 100% of the voting power in the prevote step.",
+		}, labels).With(labelsAndValues...),
 	}
 }
 
@@ -219,13 +249,15 @@ func NopMetrics() *Metrics {
 
 		BlockIntervalSeconds: discard.NewHistogram(),
 
-		NumTxs:          discard.NewGauge(),
-		BlockSizeBytes:  discard.NewHistogram(),
-		TotalTxs:        discard.NewGauge(),
-		CommittedHeight: discard.NewGauge(),
-		BlockSyncing:    discard.NewGauge(),
-		StateSyncing:    discard.NewGauge(),
-		BlockParts:      discard.NewCounter(),
+		NumTxs:                    discard.NewGauge(),
+		BlockSizeBytes:            discard.NewHistogram(),
+		TotalTxs:                  discard.NewGauge(),
+		CommittedHeight:           discard.NewGauge(),
+		BlockSyncing:              discard.NewGauge(),
+		StateSyncing:              discard.NewGauge(),
+		BlockParts:                discard.NewCounter(),
+		QuorumPrevoteMessageDelay: discard.NewGauge(),
+		FullPrevoteMessageDelay:   discard.NewGauge(),
 	}
 }
 
diff --git a/internal/consensus/state.go b/internal/consensus/state.go
index 9d12ce50a..17d032464 100644
--- a/internal/consensus/state.go
+++ b/internal/consensus/state.go
@@ -9,6 +9,7 @@ import (
 	"io"
 	"os"
 	"runtime/debug"
+	"sort"
 	"sync"
 	"time"
 
@@ -1671,6 +1672,8 @@ func (cs *State) finalizeCommit(ctx context.Context, height int64) {
 		return
 	}
 
+	cs.calculatePrevoteMessageDelayMetrics()
+
 	blockID, ok := cs.Votes.Precommits(cs.CommitRound).TwoThirdsMajority()
 	block, blockParts := cs.ProposalBlock, cs.ProposalBlockParts
 
@@ -2395,6 +2398,26 @@ func (cs *State) checkDoubleSigningRisk(height int64) error {
 	return nil
 }
 
+func (cs *State) calculatePrevoteMessageDelayMetrics() {
+	ps := cs.Votes.Prevotes(cs.Round)
+	pl := ps.List()
+	sort.Slice(pl, func(i, j int) bool {
+		return pl[i].Timestamp.Before(pl[j].Timestamp)
+	})
+	var votingPowerSeen int64
+	for _, v := range pl {
+		_, val := cs.Validators.GetByAddress(v.ValidatorAddress)
+		votingPowerSeen += val.VotingPower
+		if votingPowerSeen >= cs.Validators.TotalVotingPower()*2/3+1 {
+			cs.metrics.QuorumPrevoteMessageDelay.Set(v.Timestamp.Sub(cs.Proposal.Timestamp).Seconds())
+			break
+		}
+	}
+	if ps.HasAll() {
+		cs.metrics.FullPrevoteMessageDelay.Set(pl[len(pl)-1].Timestamp.Sub(cs.Proposal.Timestamp).Seconds())
+	}
+}
+
 //---------------------------------------------------------
 
 func CompareHRS(h1 int64, r1 int32, s1 cstypes.RoundStepType, h2 int64, r2 int32, s2 cstypes.RoundStepType) int {
diff --git a/types/vote_set.go b/types/vote_set.go
index f125af317..4aae267ad 100644
--- a/types/vote_set.go
+++ b/types/vote_set.go
@@ -378,6 +378,20 @@ func (voteSet *VoteSet) GetByIndex(valIndex int32) *Vote {
 	return voteSet.votes[valIndex]
 }
 
+// List returns a copy of the list of votes stored by the VoteSet.
+func (voteSet *VoteSet) List() []Vote {
+	if voteSet == nil || voteSet.votes == nil {
+		return nil
+	}
+	votes := make([]Vote, 0, len(voteSet.votes))
+	for i := range voteSet.votes {
+		if voteSet.votes[i] != nil {
+			votes = append(votes, *voteSet.votes[i])
+		}
+	}
+	return votes
+}
+
 func (voteSet *VoteSet) GetByAddress(address []byte) *Vote {
 	if voteSet == nil {
 		return nil
@@ -423,6 +437,9 @@ func (voteSet *VoteSet) HasTwoThirdsAny() bool {
 }
 
 func (voteSet *VoteSet) HasAll() bool {
+	if voteSet == nil {
+		return false
+	}
 	voteSet.mtx.Lock()
 	defer voteSet.mtx.Unlock()
 	return voteSet.sum == voteSet.valSet.TotalVotingPower()