diff --git a/tools/testing/selftests/vfio/Makefile b/tools/testing/selftests/vfio/Makefile
index a29f99395206..3c796ca99a50 100644
--- a/tools/testing/selftests/vfio/Makefile
+++ b/tools/testing/selftests/vfio/Makefile
@@ -2,6 +2,7 @@ CFLAGS = $(KHDR_INCLUDES)
 TEST_GEN_PROGS += vfio_dma_mapping_test
 TEST_GEN_PROGS += vfio_iommufd_setup_test
 TEST_GEN_PROGS += vfio_pci_device_test
+TEST_GEN_PROGS += vfio_pci_device_init_perf_test
 TEST_GEN_PROGS += vfio_pci_driver_test
 
 TEST_FILES += scripts/cleanup.sh
@@ -16,6 +17,8 @@ CFLAGS += -I$(top_srcdir)/tools/include
 CFLAGS += -MD
 CFLAGS += $(EXTRA_CFLAGS)
 
+LDFLAGS += -pthread
+
 $(TEST_GEN_PROGS): %: %.o $(LIBVFIO_O)
 	$(CC) $(CFLAGS) $(CPPFLAGS) $(LDFLAGS) $< $(LIBVFIO_O) $(LDLIBS) -o $@
 
diff --git a/tools/testing/selftests/vfio/vfio_pci_device_init_perf_test.c b/tools/testing/selftests/vfio/vfio_pci_device_init_perf_test.c
new file mode 100644
index 000000000000..33b0c31fe2ed
--- /dev/null
+++ b/tools/testing/selftests/vfio/vfio_pci_device_init_perf_test.c
@@ -0,0 +1,168 @@
+// SPDX-License-Identifier: GPL-2.0-only
+#include <pthread.h>
+#include <sys/ioctl.h>
+#include <sys/mman.h>
+
+#include <linux/sizes.h>
+#include <linux/time64.h>
+#include <linux/vfio.h>
+
+#include <libvfio.h>
+
+#include "../kselftest_harness.h"
+
+static char **device_bdfs;
+static int nr_devices;
+
+struct thread_args {
+	struct iommu *iommu;
+	int device_index;
+	struct timespec start;
+	struct timespec end;
+	pthread_barrier_t *barrier;
+};
+
+FIXTURE(vfio_pci_device_init_perf_test) {
+	pthread_t *threads;
+	pthread_barrier_t barrier;
+	struct thread_args *thread_args;
+	struct iommu *iommu;
+};
+
+FIXTURE_VARIANT(vfio_pci_device_init_perf_test) {
+	const char *iommu_mode;
+};
+
+#define FIXTURE_VARIANT_ADD_IOMMU_MODE(_iommu_mode)			\
+FIXTURE_VARIANT_ADD(vfio_pci_device_init_perf_test, _iommu_mode) {	\
+	.iommu_mode = #_iommu_mode,					\
+}
+
+FIXTURE_VARIANT_ADD_ALL_IOMMU_MODES();
+
+FIXTURE_SETUP(vfio_pci_device_init_perf_test)
+{
+	int i;
+
+	self->iommu = iommu_init(variant->iommu_mode);
+	self->threads = calloc(nr_devices, sizeof(self->threads[0]));
+	self->thread_args = calloc(nr_devices, sizeof(self->thread_args[0]));
+
+	pthread_barrier_init(&self->barrier, NULL, nr_devices);
+
+	for (i = 0; i < nr_devices; i++) {
+		self->thread_args[i].iommu = self->iommu;
+		self->thread_args[i].barrier = &self->barrier;
+		self->thread_args[i].device_index = i;
+	}
+}
+
+FIXTURE_TEARDOWN(vfio_pci_device_init_perf_test)
+{
+	iommu_cleanup(self->iommu);
+	free(self->threads);
+	free(self->thread_args);
+}
+
+static s64 to_ns(struct timespec ts)
+{
+	return (s64)ts.tv_nsec + NSEC_PER_SEC * (s64)ts.tv_sec;
+}
+
+static struct timespec to_timespec(s64 ns)
+{
+	struct timespec ts = {
+		.tv_nsec = ns % NSEC_PER_SEC,
+		.tv_sec = ns / NSEC_PER_SEC,
+	};
+
+	return ts;
+}
+
+static struct timespec timespec_sub(struct timespec a, struct timespec b)
+{
+	return to_timespec(to_ns(a) - to_ns(b));
+}
+
+static struct timespec timespec_min(struct timespec a, struct timespec b)
+{
+	return to_ns(a) < to_ns(b) ? a : b;
+}
+
+static struct timespec timespec_max(struct timespec a, struct timespec b)
+{
+	return to_ns(a) > to_ns(b) ? a : b;
+}
+
+static void *thread_main(void *__args)
+{
+	struct thread_args *args = __args;
+	struct vfio_pci_device *device;
+
+	pthread_barrier_wait(args->barrier);
+
+	clock_gettime(CLOCK_MONOTONIC, &args->start);
+	device = vfio_pci_device_init(device_bdfs[args->device_index], args->iommu);
+	clock_gettime(CLOCK_MONOTONIC, &args->end);
+
+	pthread_barrier_wait(args->barrier);
+
+	vfio_pci_device_cleanup(device);
+	return NULL;
+}
+
+TEST_F(vfio_pci_device_init_perf_test, init)
+{
+	struct timespec start = to_timespec(INT64_MAX), end = {};
+	struct timespec min = to_timespec(INT64_MAX);
+	struct timespec max = {};
+	struct timespec avg = {};
+	struct timespec wall_time;
+	s64 thread_ns = 0;
+	int i;
+
+	for (i = 0; i < nr_devices; i++) {
+		pthread_create(&self->threads[i], NULL, thread_main,
+			       &self->thread_args[i]);
+	}
+
+	for (i = 0; i < nr_devices; i++) {
+		struct thread_args *args = &self->thread_args[i];
+		struct timespec init_time;
+
+		pthread_join(self->threads[i], NULL);
+
+		start = timespec_min(start, args->start);
+		end = timespec_max(end, args->end);
+
+		init_time = timespec_sub(args->end, args->start);
+		min = timespec_min(min, init_time);
+		max = timespec_max(max, init_time);
+		thread_ns += to_ns(init_time);
+	}
+
+	avg = to_timespec(thread_ns / nr_devices);
+	wall_time = timespec_sub(end, start);
+
+	printf("Wall time: %lu.%09lus\n",
+	       wall_time.tv_sec, wall_time.tv_nsec);
+	printf("Min init time (per device): %lu.%09lus\n",
+	       min.tv_sec, min.tv_nsec);
+	printf("Max init time (per device): %lu.%09lus\n",
+	       max.tv_sec, max.tv_nsec);
+	printf("Avg init time (per device): %lu.%09lus\n",
+	       avg.tv_sec, avg.tv_nsec);
+}
+
+int main(int argc, char *argv[])
+{
+	int i;
+
+	device_bdfs = vfio_selftests_get_bdfs(&argc, argv, &nr_devices);
+
+	printf("Testing parallel initialization of %d devices:\n", nr_devices);
+	for (i = 0; i < nr_devices; i++)
+		printf("    %s\n", device_bdfs[i]);
+
+	return test_harness_run(argc, argv);
+}