diff --git a/test/benchmark/CMakeLists.txt b/test/benchmark/CMakeLists.txt
index 65969e18..dea826ff 100644
--- a/test/benchmark/CMakeLists.txt
+++ b/test/benchmark/CMakeLists.txt
@@ -40,6 +40,14 @@ macro(mujoco_benchmark_test name)
   endif()
 endmacro()
 
+mujoco_benchmark_test(ccd_benchmark_test)
+target_link_libraries(
+  ccd_benchmark_test
+  fixture
+  gmock
+  benchmark::benchmark
+)
+
 mujoco_benchmark_test(step_benchmark_test)
 target_link_libraries(
   step_benchmark_test
diff --git a/test/benchmark/ccd_benchmark_test.cc b/test/benchmark/ccd_benchmark_test.cc
new file mode 100644
index 00000000..aaf09359
--- /dev/null
+++ b/test/benchmark/ccd_benchmark_test.cc
@@ -0,0 +1,145 @@
+// Copyright 2024 DeepMind Technologies Limited
+//
+// 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.
+
+// A benchmark for parsing and compiling models from XML.
+
+#include <cstddef>
+#include <vector>
+#include <string>
+
+#include <benchmark/benchmark.h>
+#include <absl/base/attributes.h>
+#include <mujoco/mjmodel.h>
+#include <mujoco/mujoco.h>
+#include "test/fixture.h"
+
+namespace mujoco {
+namespace {
+
+// number of steps to roll out before benchmarking
+static const int kNumWarmupSteps = 1000;
+
+// number of steps to benchmark (before resetting state)
+static const int kBatchSize = 50;
+
+static const char kBoxMeshPath[] =
+    "../test/engine/testdata/collision_convex/perf/boxmesh.xml";
+static const char kEllipsoidPath[] =
+  "../test/engine/testdata/collision_convex/perf/ellipsoid.xml";
+static const char kMixedPath[] =
+  "../test/engine/testdata/collision_convex/perf/mixed.xml";
+
+class TestHarness {
+ public:
+  TestHarness(const char* xml_path, std::string label, int enable_flags = 0) {
+    // Fail test if there are any mujoco errors
+    MujocoErrorTestGuard guard;
+    model_ = LoadModelFromPath(xml_path);
+    model_->opt.enableflags |= enable_flags;
+    data_ = mj_makeData(model_);
+    for (int i=0; i < kNumWarmupSteps; i++) {
+      mj_step(model_, data_);
+    }
+
+    // save state
+    spec_ = mjSTATE_INTEGRATION;
+    int size = mj_stateSize(model_, spec_);
+    initial_state_.resize(size);
+    mj_getState(model_, data_, initial_state_.data(), spec_);
+    label_ = label;
+  }
+
+  void Reset() {
+    mj_setState(model_, data_, initial_state_.data(), spec_);
+  }
+
+  void RunBenchmark(benchmark::State& state) {
+    std::size_t ncon = 0;
+    while (state.KeepRunningBatch(kBatchSize)) {
+      Reset();
+
+      // run a batch of steps
+      for (int i=0; i < kBatchSize; i++) {
+        mj_step(model_, data_);
+        ncon += data_->ncon;
+      }
+    }
+
+    state.SetLabel(label_);
+    state.SetItemsProcessed(ncon);  // report number of contacts per second
+  }
+
+  ~TestHarness() {
+    mj_deleteData(data_);
+    mj_deleteModel(model_);
+  }
+
+ private:
+  std::string label_;
+  int spec_;
+  mjModel* model_;
+  mjData* data_;
+  std::vector<mjtNum> initial_state_;
+};
+
+
+// Use ABSL_ATTRIBUTE_NO_TAIL_CALL to make sure the benchmark functions appear
+// separately in CPU profiles (and don't get replaced with raw calls to
+// run_parse_benchmark).
+
+void ABSL_ATTRIBUTE_NO_TAIL_CALL
+    BM_BoxMesh_NativeCCD(benchmark::State& state) {
+  static TestHarness harness(kBoxMeshPath, "boxmesh.xml (nativeccd)",
+                             mjENBL_NATIVECCD);
+  harness.RunBenchmark(state);
+}
+BENCHMARK(BM_BoxMesh_NativeCCD);
+
+void ABSL_ATTRIBUTE_NO_TAIL_CALL
+    BM_BoxMesh_LibCCD(benchmark::State& state) {
+  static TestHarness harness(kBoxMeshPath, "boxmesh.xml (libccd)");
+  harness.RunBenchmark(state);
+}
+BENCHMARK(BM_BoxMesh_LibCCD);
+
+void ABSL_ATTRIBUTE_NO_TAIL_CALL
+    BM_Ellipsoid_NativeCCD(benchmark::State& state) {
+  static TestHarness harness(kEllipsoidPath, "ellipsoid.xml (nativeccd)",
+                             mjENBL_NATIVECCD);
+  harness.RunBenchmark(state);
+}
+BENCHMARK(BM_Ellipsoid_NativeCCD);
+
+void ABSL_ATTRIBUTE_NO_TAIL_CALL
+    BM_Ellipsoid_LibCCD(benchmark::State& state) {
+  static TestHarness harness(kEllipsoidPath, "ellipsoid.xml (libccd)");
+  harness.RunBenchmark(state);
+}
+BENCHMARK(BM_Ellipsoid_LibCCD);
+
+void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_Mixed_NativeCCD(benchmark::State& state) {
+  static TestHarness harness(kMixedPath, "mixed.xml (nativeccd)",
+                             mjENBL_NATIVECCD);
+  harness.RunBenchmark(state);
+}
+BENCHMARK(BM_Mixed_NativeCCD);
+
+void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_Mixed_LibCCD(benchmark::State& state) {
+  static TestHarness harness(kMixedPath, "mixed.xml (libccd)");
+  harness.RunBenchmark(state);
+}
+BENCHMARK(BM_Mixed_LibCCD);
+
+}  // namespace
+}  // namespace mujoco