diff --git a/tf2/CMakeLists.txt b/tf2/CMakeLists.txt
index b46415813..2c2818546 100644
--- a/tf2/CMakeLists.txt
+++ b/tf2/CMakeLists.txt
@@ -44,6 +44,7 @@ install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
 
 # Tests
 if(BUILD_TESTING)
+  find_package(ament_cmake_google_benchmark REQUIRED)
   find_package(ament_cmake_copyright REQUIRED)
   find_package(ament_cmake_cppcheck REQUIRED)
   find_package(ament_cmake_cpplint REQUIRED)
@@ -83,6 +84,11 @@ if(BUILD_TESTING)
     target_link_libraries(test_cache_unittest tf2)
   endif()
 
+  ament_add_google_benchmark(cache_benchmark test/cache_benchmark.cpp)
+  if(TARGET cache_benchmark)
+    target_link_libraries(cache_benchmark tf2)
+  endif()
+
   ament_add_gtest(test_static_cache_unittest test/static_cache_test.cpp)
   if(TARGET test_static_cache_unittest)
     target_link_libraries(test_static_cache_unittest tf2)
diff --git a/tf2/package.xml b/tf2/package.xml
index 015f7e38e..70f52b7bd 100644
--- a/tf2/package.xml
+++ b/tf2/package.xml
@@ -31,6 +31,7 @@
   <depend>geometry_msgs</depend>
   <depend>rcutils</depend>
 
+  <test_depend>ament_cmake_google_benchmark</test_depend>
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_cmake_copyright</test_depend>
   <test_depend>ament_cmake_cppcheck</test_depend>
diff --git a/tf2/test/cache_benchmark.cpp b/tf2/test/cache_benchmark.cpp
new file mode 100644
index 000000000..4d0ea19fc
--- /dev/null
+++ b/tf2/test/cache_benchmark.cpp
@@ -0,0 +1,98 @@
+// Copyright 2024, Open Source Robotics Foundation, Inc. All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the Open Source Robotics Foundation, Inc. nor the
+//      names of its contributors may be used to endorse or promote products
+//      derived from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+#include <benchmark/benchmark.h>
+
+#include <chrono>
+#include <tuple>
+#include <vector>
+
+#include "tf2/time_cache.h"
+
+// Simulates 5 transforms, 10s worth of data at 200 Hz in a buffer that is
+// completely full.
+static void benchmark_insertion(benchmark::State & state)
+{
+  constexpr tf2::Duration max_storage_time = std::chrono::seconds(10);
+  const int num_tform = 5;
+  const int freq_hz = 200;
+  const tf2::Duration dt = std::chrono::nanoseconds(1'000'000'000 / freq_hz);
+
+  // Distinct transforms.
+  std::vector<tf2::TransformStorage> example_items{};
+  for (int tform_index = 0; tform_index < num_tform; ++tform_index) {
+    tf2::TransformStorage stor{};
+    stor.child_frame_id_ = tform_index;
+    stor.translation_.setValue(tform_index, 0.0, 0.0);
+    stor.rotation_.setValue(0.0, 0.0, 0.0, 1.0);
+    example_items.emplace_back(stor);
+  }
+
+  // Insert data to cache
+  auto insert_data = [&example_items, num_tform, dt](
+    tf2::TimeCache & cache,
+    tf2::TimePoint timestamp,
+    int step,
+    tf2::TimePoint target_timestamp) {
+      while (timestamp < target_timestamp) {
+        for (int tform_index = 0; tform_index < num_tform; ++tform_index) {
+          example_items[tform_index].frame_id_ = step;
+          example_items[tform_index].stamp_ = timestamp;
+          cache.insertData(example_items[tform_index]);
+        }
+        timestamp += dt;
+        ++step;
+      }
+      return std::make_tuple(timestamp, step);
+    };
+
+  // First, fill the cache with max storage amount (the limit).
+  tf2::TimeCache fill_cache(max_storage_time);
+  const auto [fill_timestamp, fill_timestep] = insert_data(
+      fill_cache,
+      tf2::TimePointZero,
+      0,
+      tf2::TimePointZero + max_storage_time);
+
+  // Now profile adding new data to the copied cache.
+  const tf2::TimePoint target_timestamp = fill_timestamp + max_storage_time;
+  for (auto _ : state) {
+    // Don't profile construction (copying) of the cache.
+    state.PauseTiming();
+    tf2::TimeCache cache(fill_cache);
+    state.ResumeTiming();
+
+    insert_data(
+        cache,
+        fill_timestamp,
+        fill_timestep,
+        target_timestamp);
+  }
+}
+
+BENCHMARK(benchmark_insertion);