diff --git a/tests/benchmarks/scheduler-bench.cpp b/tests/benchmarks/scheduler-bench.cpp
new file mode 100644
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--- /dev/null
+++ b/tests/benchmarks/scheduler-bench.cpp
@@ -0,0 +1,91 @@
+/* -*- Mode:C++; c-file-style:"gnu"; indent-tabs-mode:nil; -*- */
+/*
+ * Copyright (c) 2013-2020 Regents of the University of California.
+ *
+ * This file is part of ndn-cxx library (NDN C++ library with eXperimental eXtensions).
+ *
+ * ndn-cxx library is free software: you can redistribute it and/or modify it under the
+ * terms of the GNU Lesser General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option) any later version.
+ *
+ * ndn-cxx library is distributed in the hope that it will be useful, but WITHOUT ANY
+ * WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A
+ * PARTICULAR PURPOSE.  See the GNU Lesser General Public License for more details.
+ *
+ * You should have received copies of the GNU General Public License and GNU Lesser
+ * General Public License along with ndn-cxx, e.g., in COPYING.md file.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ *
+ * See AUTHORS.md for complete list of ndn-cxx authors and contributors.
+ */
+
+#define BOOST_TEST_MODULE ndn-cxx Scheduler Benchmark
+#include "tests/boost-test.hpp"
+
+#include "ndn-cxx/util/scheduler.hpp"
+#include "tests/benchmarks/timed-execute.hpp"
+
+#include <boost/asio/io_service.hpp>
+#include <iostream>
+
+namespace ndn {
+namespace scheduler {
+namespace tests {
+
+using namespace ndn::tests;
+
+BOOST_AUTO_TEST_CASE(ScheduleCancel)
+{
+  boost::asio::io_service io;
+  Scheduler sched(io);
+
+  const size_t nEvents = 1000000;
+  std::vector<EventId> eventIds(nEvents);
+
+  auto d1 = timedExecute([&] {
+    for (size_t i = 0; i < nEvents; ++i) {
+      eventIds[i] = sched.schedule(1_s, []{});
+    }
+  });
+
+  auto d2 = timedExecute([&] {
+    for (size_t i = 0; i < nEvents; ++i) {
+      eventIds[i].cancel();
+    }
+  });
+
+  std::cout << "schedule " << nEvents << " events: " << d1 << std::endl;
+  std::cout << "cancel " << nEvents << " events: " << d2 << std::endl;
+}
+
+BOOST_AUTO_TEST_CASE(Execute)
+{
+  boost::asio::io_service io;
+  Scheduler sched(io);
+
+  const size_t nEvents = 1000000;
+  size_t nExpired = 0;
+
+  // Events should expire at t1, but execution finishes at t2. The difference is the overhead.
+  time::steady_clock::TimePoint t1 = time::steady_clock::now() + 5_s;
+  time::steady_clock::TimePoint t2;
+  // +1ms ensures this extra event is executed last. In case the overhead is less than 1ms,
+  // it will be reported as 1ms.
+  sched.schedule(t1 - time::steady_clock::now() + 1_ms, [&] {
+    t2 = time::steady_clock::now();
+    BOOST_REQUIRE_EQUAL(nExpired, nEvents);
+  });
+
+  for (size_t i = 0; i < nEvents; ++i) {
+    sched.schedule(t1 - time::steady_clock::now(), [&] { ++nExpired; });
+  }
+
+  io.run();
+
+  BOOST_REQUIRE_EQUAL(nExpired, nEvents);
+  std::cout << "execute " << nEvents << " events: " << (t2 - t1) << std::endl;
+}
+
+} // namespace tests
+} // namespace scheduler
+} // namespace ndn