diff --git a/mlserver/server.py b/mlserver/server.py
index d82c49080..b12bf237f 100644
--- a/mlserver/server.py
+++ b/mlserver/server.py
@@ -1,6 +1,7 @@
 import asyncio
 import signal
 import logging
+import time
 
 from typing import Optional, List
 
@@ -122,12 +123,17 @@ async def start(self, models_settings: List[ModelSettings] = []):
         servers_task = asyncio.gather(*servers)
 
         try:
+            total_start: float = time.perf_counter()
             await asyncio.gather(
                 *[
-                    self._model_registry.load(model_settings)
+                    self._timed_load(model_settings)
                     for model_settings in models_settings
                 ]
             )
+            total_duration: float = time.perf_counter() - total_start
+            logger.debug(
+                f"Loaded {len(models_settings)} models in {total_duration:0.3f}s"
+            )
         except Exception:
             # If one of the models failed to load during startup, shutdown the
             # server gracefully
@@ -188,3 +194,15 @@ async def stop(self, sig: Optional[int] = None):
 
         if self._metrics_server:
             await self._metrics_server.stop(sig)
+
+    async def _timed_load(self, model_settings: ModelSettings) -> MLModel:
+        """
+        Load a model while measuring the elapsed time.
+        """
+        t0: float = time.perf_counter()
+        try:
+            return await self._model_registry.load(model_settings)
+        finally:
+            elapsed: float = time.perf_counter() - t0
+            model_name = getattr(model_settings, "name", "<unknown>")
+            logger.debug(f"Model {model_name} loaded in {elapsed:0.3f}s")