diff --git a/drivers/gpu/drm/panfrost/panfrost_drv.c b/drivers/gpu/drm/panfrost/panfrost_drv.c
index 671eed4ad890..83696d06d697 100644
--- a/drivers/gpu/drm/panfrost/panfrost_drv.c
+++ b/drivers/gpu/drm/panfrost/panfrost_drv.c
@@ -3,6 +3,10 @@
 /* Copyright 2019 Linaro, Ltd., Rob Herring <robh@kernel.org> */
 /* Copyright 2019 Collabora ltd. */
 
+#ifdef CONFIG_ARM_ARCH_TIMER
+#include <asm/arch_timer.h>
+#endif
+
 #include <linux/module.h>
 #include <linux/of.h>
 #include <linux/pagemap.h>
@@ -24,10 +28,26 @@
 static bool unstable_ioctls;
 module_param_unsafe(unstable_ioctls, bool, 0600);
 
+static int panfrost_ioctl_query_timestamp(struct panfrost_device *pfdev,
+					  u64 *arg)
+{
+	int ret;
+
+	ret = pm_runtime_resume_and_get(pfdev->dev);
+	if (ret)
+		return ret;
+
+	*arg = panfrost_timestamp_read(pfdev);
+
+	pm_runtime_put(pfdev->dev);
+	return 0;
+}
+
 static int panfrost_ioctl_get_param(struct drm_device *ddev, void *data, struct drm_file *file)
 {
 	struct drm_panfrost_get_param *param = data;
 	struct panfrost_device *pfdev = ddev->dev_private;
+	int ret;
 
 	if (param->pad != 0)
 		return -EINVAL;
@@ -69,6 +89,21 @@ static int panfrost_ioctl_get_param(struct drm_device *ddev, void *data, struct
 		PANFROST_FEATURE_ARRAY(JS_FEATURES, js_features, 15);
 		PANFROST_FEATURE(NR_CORE_GROUPS, nr_core_groups);
 		PANFROST_FEATURE(THREAD_TLS_ALLOC, thread_tls_alloc);
+
+	case DRM_PANFROST_PARAM_SYSTEM_TIMESTAMP:
+		ret = panfrost_ioctl_query_timestamp(pfdev, &param->value);
+		if (ret)
+			return ret;
+		break;
+
+	case DRM_PANFROST_PARAM_SYSTEM_TIMESTAMP_FREQUENCY:
+#ifdef CONFIG_ARM_ARCH_TIMER
+		param->value = arch_timer_get_cntfrq();
+#else
+		param->value = 0;
+#endif
+		break;
+
 	default:
 		return -EINVAL;
 	}
diff --git a/drivers/gpu/drm/panfrost/panfrost_gpu.c b/drivers/gpu/drm/panfrost/panfrost_gpu.c
index fd8e44992184..92de71725f53 100644
--- a/drivers/gpu/drm/panfrost/panfrost_gpu.c
+++ b/drivers/gpu/drm/panfrost/panfrost_gpu.c
@@ -380,6 +380,18 @@ unsigned long long panfrost_cycle_counter_read(struct panfrost_device *pfdev)
 	return ((u64)hi << 32) | lo;
 }
 
+unsigned long long panfrost_timestamp_read(struct panfrost_device *pfdev)
+{
+	u32 hi, lo;
+
+	panfrost_cycle_counter_get(pfdev);
+	hi = gpu_read(pfdev, GPU_TIMESTAMP_HI);
+	lo = gpu_read(pfdev, GPU_TIMESTAMP_LO);
+	panfrost_cycle_counter_put(pfdev);
+
+	return ((u64)hi << 32) | lo;
+}
+
 static u64 panfrost_get_core_mask(struct panfrost_device *pfdev)
 {
 	u64 core_mask;
diff --git a/drivers/gpu/drm/panfrost/panfrost_gpu.h b/drivers/gpu/drm/panfrost/panfrost_gpu.h
index d841b86504ea..b4fef11211d5 100644
--- a/drivers/gpu/drm/panfrost/panfrost_gpu.h
+++ b/drivers/gpu/drm/panfrost/panfrost_gpu.h
@@ -20,6 +20,7 @@ void panfrost_gpu_suspend_irq(struct panfrost_device *pfdev);
 void panfrost_cycle_counter_get(struct panfrost_device *pfdev);
 void panfrost_cycle_counter_put(struct panfrost_device *pfdev);
 unsigned long long panfrost_cycle_counter_read(struct panfrost_device *pfdev);
+unsigned long long panfrost_timestamp_read(struct panfrost_device *pfdev);
 
 void panfrost_gpu_amlogic_quirk(struct panfrost_device *pfdev);
 
diff --git a/drivers/gpu/drm/panfrost/panfrost_regs.h b/drivers/gpu/drm/panfrost/panfrost_regs.h
index c25743b05c55..c7bba476ab3f 100644
--- a/drivers/gpu/drm/panfrost/panfrost_regs.h
+++ b/drivers/gpu/drm/panfrost/panfrost_regs.h
@@ -78,6 +78,8 @@
 
 #define GPU_CYCLE_COUNT_LO		0x90
 #define GPU_CYCLE_COUNT_HI		0x94
+#define GPU_TIMESTAMP_LO		0x98
+#define GPU_TIMESTAMP_HI		0x9C
 
 #define GPU_THREAD_MAX_THREADS		0x0A0	/* (RO) Maximum number of threads per core */
 #define GPU_THREAD_MAX_WORKGROUP_SIZE	0x0A4	/* (RO) Maximum workgroup size */
diff --git a/include/uapi/drm/panfrost_drm.h b/include/uapi/drm/panfrost_drm.h
index 9f231d40a146..52b050e2b660 100644
--- a/include/uapi/drm/panfrost_drm.h
+++ b/include/uapi/drm/panfrost_drm.h
@@ -172,6 +172,8 @@ enum drm_panfrost_param {
 	DRM_PANFROST_PARAM_NR_CORE_GROUPS,
 	DRM_PANFROST_PARAM_THREAD_TLS_ALLOC,
 	DRM_PANFROST_PARAM_AFBC_FEATURES,
+	DRM_PANFROST_PARAM_SYSTEM_TIMESTAMP,
+	DRM_PANFROST_PARAM_SYSTEM_TIMESTAMP_FREQUENCY,
 };
 
 struct drm_panfrost_get_param {
