diff --git a/rclcpp_action/CMakeLists.txt b/rclcpp_action/CMakeLists.txt
index d3ec1f5..4d4b134 100644
--- a/rclcpp_action/CMakeLists.txt
+++ b/rclcpp_action/CMakeLists.txt
@@ -74,6 +74,8 @@ if(BUILD_TESTING)
   set(ament_cmake_cppcheck_ADDITIONAL_INCLUDE_DIRS ${rclcpp_INCLUDE_DIRS})
   ament_lint_auto_find_test_dependencies()
 
+  add_subdirectory(test/benchmark)
+
   ament_add_gtest(test_client test/test_client.cpp TIMEOUT 180)
   if(TARGET test_client)
     ament_target_dependencies(test_client
diff --git a/rclcpp_action/package.xml b/rclcpp_action/package.xml
index c01e9f2..40c2a8c 100644
--- a/rclcpp_action/package.xml
+++ b/rclcpp_action/package.xml
@@ -23,6 +23,7 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>mimick_vendor</test_depend>
+  <test_depend>performance_test_fixture</test_depend>
   <test_depend>test_msgs</test_depend>
 
   <export>
diff --git a/rclcpp_action/test/benchmark/CMakeLists.txt b/rclcpp_action/test/benchmark/CMakeLists.txt
new file mode 100644
index 0000000..9a3b8d0
--- /dev/null
+++ b/rclcpp_action/test/benchmark/CMakeLists.txt
@@ -0,0 +1,14 @@
+find_package(performance_test_fixture REQUIRED)
+
+# These benchmarks are only being created and run for the default RMW
+# implementation. We are looking to test the performance of the ROS 2 code, not
+# the underlying middleware.
+
+add_performance_test(
+  benchmark_action_client
+  benchmark_action_client.cpp
+  TIMEOUT 120)
+if(TARGET benchmark_action_client)
+  target_link_libraries(benchmark_action_client ${PROJECT_NAME})
+  ament_target_dependencies(benchmark_action_client rclcpp test_msgs)
+endif()
diff --git a/rclcpp_action/test/benchmark/benchmark_action_client.cpp b/rclcpp_action/test/benchmark/benchmark_action_client.cpp
new file mode 100644
index 0000000..c703a98
--- /dev/null
+++ b/rclcpp_action/test/benchmark/benchmark_action_client.cpp
@@ -0,0 +1,351 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <memory>
+#include <string>
+
+#include "performance_test_fixture/performance_test_fixture.hpp"
+#include "rclcpp_action/rclcpp_action.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "test_msgs/action/fibonacci.hpp"
+
+using performance_test_fixture::PerformanceTest;
+
+using Fibonacci = test_msgs::action::Fibonacci;
+using GoalHandle = rclcpp_action::ServerGoalHandle<Fibonacci>;
+using CancelResponse = typename Fibonacci::Impl::CancelGoalService::Response;
+using GoalUUID = rclcpp_action::GoalUUID;
+
+constexpr char fibonacci_action_name[] = "fibonacci";
+
+namespace
+{
+
+test_msgs::action::Fibonacci::Goal GetGoalOfOrder(int order)
+{
+  test_msgs::action::Fibonacci::Goal goal;
+  goal.order = order;
+  return goal;
+}
+
+}  // namespace
+
+class ActionClientPerformanceTest : public PerformanceTest
+{
+public:
+  void SetUp(benchmark::State & state)
+  {
+    rclcpp::init(0, nullptr);
+    // Use same node for server and client to avoid interprocess communication
+    node = std::make_shared<rclcpp::Node>("node", "ns");
+    performance_test_fixture::PerformanceTest::SetUp(state);
+  }
+
+  void SetUpServer(const std::string & action_name)
+  {
+    // This action server accepts and defers so that execution can be timed separately from
+    // accepting the goal
+    action_server = rclcpp_action::create_server<Fibonacci>(
+      node, action_name,
+      [](const GoalUUID &, std::shared_ptr<const Fibonacci::Goal> goal) {
+        if (goal->order <= 0) {
+          return rclcpp_action::GoalResponse::REJECT;
+        }
+        return rclcpp_action::GoalResponse::ACCEPT_AND_DEFER;
+      },
+      [](std::shared_ptr<GoalHandle>) {
+        return rclcpp_action::CancelResponse::ACCEPT;
+      },
+      [this](std::shared_ptr<GoalHandle> goal_handle) {
+        current_goal_handle = goal_handle;
+      });
+  }
+
+  void ComputeFibonacciAndSetSuccess()
+  {
+    // This method is suprisingly slow, primarily due to the goal_handle->execute/succeed calls.
+    current_goal_handle->execute();
+    const auto goal = current_goal_handle->get_goal();
+    auto result = std::make_shared<Fibonacci::Result>();
+
+    // Should be checked by the server above
+    assert(goal->order > 0);
+    result->sequence.resize(goal->order);
+    result->sequence[0] = 0;
+    if (goal->order == 1) {
+      current_goal_handle->succeed(result);
+      return;
+    }
+    result->sequence[1] = 1;
+    if (goal->order == 2) {
+      current_goal_handle->succeed(result);
+      return;
+    }
+    for (int i = 2; i < goal->order; ++i) {
+      result->sequence[i] =
+        result->sequence[i - 1] + result->sequence[i - 2];
+    }
+    current_goal_handle->succeed(result);
+  }
+
+  void TearDown(benchmark::State & state)
+  {
+    performance_test_fixture::PerformanceTest::TearDown(state);
+    // Ensure proper sequencing of destruction
+    current_goal_handle.reset();
+    action_server.reset();
+    node.reset();
+    rclcpp::shutdown();
+  }
+
+protected:
+  std::shared_ptr<rclcpp::Node> node;
+  std::shared_ptr<rclcpp_action::Server<test_msgs::action::Fibonacci>> action_server;
+  std::shared_ptr<GoalHandle> current_goal_handle;
+};
+
+BENCHMARK_F(ActionClientPerformanceTest, construct_client_without_server)(benchmark::State & state)
+{
+  constexpr char action_name[] = "no_corresponding_server";
+  for (auto _ : state) {
+    auto client = rclcpp_action::create_client<Fibonacci>(node, action_name);
+
+    // Only timing construction, so destruction needs to happen explicitly while timing is paused
+    state.PauseTiming();
+    client.reset();
+    state.ResumeTiming();
+  }
+}
+
+BENCHMARK_F(ActionClientPerformanceTest, construct_client_with_server)(benchmark::State & state)
+{
+  SetUpServer(fibonacci_action_name);
+  reset_heap_counters();
+  for (auto _ : state) {
+    auto client = rclcpp_action::create_client<Fibonacci>(node, fibonacci_action_name);
+
+    // Only timing construction, so destruction needs to happen explicitly while timing is paused
+    state.PauseTiming();
+    client.reset();
+    state.ResumeTiming();
+  }
+}
+
+BENCHMARK_F(ActionClientPerformanceTest, destroy_client)(benchmark::State & state)
+{
+  for (auto _ : state) {
+    // This client does not have a corresponding server
+    state.PauseTiming();
+    auto client = rclcpp_action::create_client<Fibonacci>(node, fibonacci_action_name);
+    state.ResumeTiming();
+
+    client.reset();
+  }
+}
+
+BENCHMARK_F(ActionClientPerformanceTest, async_send_goal_only)(benchmark::State & state)
+{
+  auto client = rclcpp_action::create_client<Fibonacci>(node, fibonacci_action_name);
+  SetUpServer(fibonacci_action_name);
+  if (!client->wait_for_action_server(std::chrono::seconds(1))) {
+    state.SkipWithError("Waiting for server timed out");
+    return;
+  }
+
+  const auto goal = GetGoalOfOrder(5);
+
+  reset_heap_counters();
+  for (auto _ : state) {
+    auto future_goal_handle = client->async_send_goal(goal);
+  }
+}
+
+BENCHMARK_F(ActionClientPerformanceTest, async_send_goal_rejected)(benchmark::State & state)
+{
+  auto client = rclcpp_action::create_client<Fibonacci>(node, fibonacci_action_name);
+  SetUpServer(fibonacci_action_name);
+  if (!client->wait_for_action_server(std::chrono::seconds(1))) {
+    state.SkipWithError("Waiting for server timed out");
+    return;
+  }
+
+  // Order of 0 is invalid
+  const auto goal = GetGoalOfOrder(0);
+
+  reset_heap_counters();
+  for (auto _ : state) {
+    auto future_goal_handle = client->async_send_goal(goal);
+    rclcpp::spin_until_future_complete(node, future_goal_handle, std::chrono::seconds(1));
+    if (!future_goal_handle.valid()) {
+      state.SkipWithError("Shared future was invalid");
+      return;
+    }
+    if (nullptr != future_goal_handle.get()) {
+      state.SkipWithError("Invalid goal was not rejected");
+      return;
+    }
+  }
+}
+
+BENCHMARK_F(ActionClientPerformanceTest, async_send_goal_get_accepted_response)(
+  benchmark::State & state)
+{
+  auto client = rclcpp_action::create_client<Fibonacci>(node, fibonacci_action_name);
+  SetUpServer(fibonacci_action_name);
+  if (!client->wait_for_action_server(std::chrono::seconds(1))) {
+    state.SkipWithError("Waiting for server timed out");
+    return;
+  }
+
+  const auto goal = GetGoalOfOrder(10);
+
+  reset_heap_counters();
+  for (auto _ : state) {
+    // This server's execution is deferred
+    auto future_goal_handle = client->async_send_goal(goal);
+    rclcpp::spin_until_future_complete(node, future_goal_handle, std::chrono::seconds(1));
+
+    if (!future_goal_handle.valid()) {
+      state.SkipWithError("Shared future was invalid");
+      return;
+    }
+
+    auto goal_handle = future_goal_handle.get();
+    if (rclcpp_action::GoalStatus::STATUS_ACCEPTED != goal_handle->get_status()) {
+      state.SkipWithError("Valid goal was not accepted");
+      return;
+    }
+  }
+}
+
+BENCHMARK_F(ActionClientPerformanceTest, async_get_result)(benchmark::State & state)
+{
+  auto client = rclcpp_action::create_client<Fibonacci>(node, fibonacci_action_name);
+  SetUpServer(fibonacci_action_name);
+  if (!client->wait_for_action_server(std::chrono::seconds(1))) {
+    state.SkipWithError("Waiting for server timed out");
+    return;
+  }
+
+  constexpr int expected_order = 5;
+  const auto goal = GetGoalOfOrder(expected_order);
+
+  reset_heap_counters();
+  for (auto _ : state) {
+    // Send goal, accept and execute while timing is paused
+    state.PauseTiming();
+    auto future_goal_handle = client->async_send_goal(goal);
+
+    // Action server accepts and defers, so this spin doesn't include result
+    rclcpp::spin_until_future_complete(node, future_goal_handle, std::chrono::seconds(1));
+
+    if (!future_goal_handle.valid()) {
+      state.SkipWithError("Shared future was invalid");
+      return;
+    }
+    auto goal_handle = future_goal_handle.get();
+    if (nullptr == goal_handle) {
+      state.SkipWithError("Goal handle was a nullptr");
+      break;
+    }
+
+    // Perform actual execution and set success
+    ComputeFibonacciAndSetSuccess();
+    state.ResumeTiming();
+
+    // Measure how long it takes client to receive the succeeded result
+    auto future_result = client->async_get_result(goal_handle);
+    rclcpp::spin_until_future_complete(node, future_result, std::chrono::seconds(1));
+    const auto & wrapped_result = future_result.get();
+    if (rclcpp_action::ResultCode::SUCCEEDED != wrapped_result.code) {
+      state.SkipWithError("Fibonacci action did not succeed");
+      break;
+    }
+
+    const auto & sequence = wrapped_result.result->sequence;
+    if (sequence.size() != expected_order || sequence.back() != 3) {
+      state.SkipWithError("Fibonacci result was not correct");
+      break;
+    }
+  }
+}
+
+BENCHMARK_F(ActionClientPerformanceTest, async_cancel_goal)(benchmark::State & state)
+{
+  auto client = rclcpp_action::create_client<Fibonacci>(node, fibonacci_action_name);
+  SetUpServer(fibonacci_action_name);
+  if (!client->wait_for_action_server(std::chrono::seconds(1))) {
+    state.SkipWithError("Waiting for server timed out");
+    return;
+  }
+
+  constexpr int expected_order = 5;
+  const auto goal = GetGoalOfOrder(expected_order);
+
+  reset_heap_counters();
+  for (auto _ : state) {
+    state.PauseTiming();
+    auto future_goal_handle = client->async_send_goal(goal);
+
+    // Action server accepts and defers, so action can be canceled
+    rclcpp::spin_until_future_complete(node, future_goal_handle, std::chrono::seconds(1));
+    auto goal_handle = future_goal_handle.get();
+    state.ResumeTiming();
+
+    auto future_cancel = client->async_cancel_goal(goal_handle);
+    rclcpp::spin_until_future_complete(node, future_cancel, std::chrono::seconds(1));
+    auto cancel_response = future_cancel.get();
+
+    using CancelResponse = test_msgs::action::Fibonacci::Impl::CancelGoalService::Response;
+    if (CancelResponse::ERROR_NONE != cancel_response->return_code) {
+      state.SkipWithError("Cancel request did not succeed");
+      break;
+    }
+  }
+}
+
+BENCHMARK_F(ActionClientPerformanceTest, async_cancel_all_goals)(benchmark::State & state)
+{
+  auto client = rclcpp_action::create_client<Fibonacci>(node, fibonacci_action_name);
+  SetUpServer(fibonacci_action_name);
+  if (!client->wait_for_action_server(std::chrono::seconds(1))) {
+    state.SkipWithError("Waiting for server timed out");
+    return;
+  }
+
+  constexpr int expected_order = 5;
+  const auto goal = GetGoalOfOrder(expected_order);
+  constexpr int num_concurrently_inflight_goals = 10u;
+
+  reset_heap_counters();
+  for (auto _ : state) {
+    state.PauseTiming();
+    for (int i = 0; i < num_concurrently_inflight_goals; ++i) {
+      auto future_goal_handle = client->async_send_goal(goal);
+      rclcpp::spin_until_future_complete(node, future_goal_handle, std::chrono::seconds(1));
+    }
+    // Action server accepts and defers, so action can be canceled
+    state.ResumeTiming();
+
+    auto future_cancel_all = client->async_cancel_all_goals();
+    rclcpp::spin_until_future_complete(node, future_cancel_all, std::chrono::seconds(1));
+    auto cancel_response = future_cancel_all.get();
+
+    using CancelResponse = test_msgs::action::Fibonacci::Impl::CancelGoalService::Response;
+    if (CancelResponse::ERROR_NONE != cancel_response->return_code) {
+      state.SkipWithError("Cancel request did not succeed");
+      break;
+    }
+  }
+}