diff --git a/cereal/log.capnp b/cereal/log.capnp
index ddde5e4d16..75df44edec 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -887,6 +887,7 @@ struct DrivingModelData {
   frameId @0 :UInt32;
   frameIdExtra @1 :UInt32;
   frameDropPerc @6 :Float32;
+  modelExecutionTime @7 :Float32;
 
   action @2 :ModelDataV2.Action;
 
diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py
index 1c7ae49580..9cdd7e4c52 100644
--- a/selfdrive/modeld/fill_model_msg.py
+++ b/selfdrive/modeld/fill_model_msg.py
@@ -62,6 +62,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   driving_model_data.frameId = vipc_frame_id
   driving_model_data.frameIdExtra = vipc_frame_id_extra
   driving_model_data.frameDropPerc = frame_drop_perc
+  driving_model_data.modelExecutionTime = model_execution_time
 
   action = driving_model_data.action
   action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index 4402ca31d6..bb7c0b0a8e 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -105,6 +105,7 @@ if __name__ == "__main__":
       ignore = [
         'logMonoTime',
         'drivingModelData.frameDropPerc',
+        'drivingModelData.modelExecutionTime',
         'modelV2.frameDropPerc',
         'modelV2.modelExecutionTime',
         'driverStateV2.modelExecutionTime',
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index d94c1d1f52..59f6c6cc53 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -571,7 +571,7 @@ CONFIGS = [
     proc_name="modeld",
     pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState"],
     subs=["modelV2", "drivingModelData", "cameraOdometry"],
-    ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime"],
+    ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime", "drivingModelData.frameDropPerc", "drivingModelData.modelExecutionTime"],
     should_recv_callback=ModeldCameraSyncRcvCallback(),
     tolerance=NUMPY_TOLERANCE,
     processing_time=0.020,