diff --git a/.github/workflows/build-benchmark.yml b/.github/workflows/build-benchmark.yml
new file mode 100644
index 000000000..fb05a583d
--- /dev/null
+++ b/.github/workflows/build-benchmark.yml
@@ -0,0 +1,42 @@
+name: Build benchmark
+
+on:
+  pull_request:
+  workflow_dispatch:
+
+jobs:
+  benchmark:
+    name: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-latest, ubuntu-24.04-arm]
+    runs-on: ${{ matrix.os }}
+    env:
+      PSModulePath: ""
+
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v7
+
+      - name: Configure git to trust repository
+        run: git config --global --add safe.directory /__w/bitbots_main/bitbots_main
+
+      - name: Set up workspace
+        uses: prefix-dev/setup-pixi@v0.10.0
+        with:
+          pixi-version: v0.72.0
+          cache: true
+          cache-key: pixi-${{ hashFiles('pixi.toml', 'pixi.lock') }}-
+
+      - name: Measure clean and incremental builds
+        run: >-
+          python3 scripts/benchmark_build.py
+          --output build-benchmark-${{ runner.arch }}.json
+
+      - name: Upload benchmark results
+        if: always()
+        uses: actions/upload-artifact@v7
+        with:
+          name: build-benchmark-${{ runner.arch }}
+          path: build-benchmark-${{ runner.arch }}.json
+          if-no-files-found: warn
diff --git a/scripts/benchmark_build.py b/scripts/benchmark_build.py
new file mode 100644
index 000000000..755f9923b
--- /dev/null
+++ b/scripts/benchmark_build.py
@@ -0,0 +1,98 @@
+#!/usr/bin/env python3
+
+"""Measure clean and incremental workspace build times."""
+
+import argparse
+import json
+import os
+import subprocess
+import time
+from datetime import UTC, datetime
+from pathlib import Path
+
+DEFAULT_SOURCE = Path("src/bitbots_motion/bitbots_head_mover/src/move_head.cpp")
+
+
+def run_timed(command: list[str]) -> dict[str, float | int | list[str]]:
+    """Run a command and return its duration and exit status."""
+    start = time.perf_counter()
+    result = subprocess.run(command, check=False)
+    return {
+        "command": command,
+        "duration_seconds": time.perf_counter() - start,
+        "return_code": result.returncode,
+    }
+
+
+def append_github_summary(results: dict[str, object], summary_path: Path) -> None:
+    """Append the benchmark results to a GitHub Actions step summary."""
+    clean = results["clean_build"]
+    incremental = results["incremental_build"]
+    assert isinstance(clean, dict)
+    assert isinstance(incremental, dict)
+
+    with summary_path.open("a", encoding="utf-8") as summary:
+        summary.write("## Build benchmark\n\n")
+        summary.write("| Build | Duration | Exit code |\n")
+        summary.write("| --- | ---: | ---: |\n")
+        summary.write(f"| Clean | {clean['duration_seconds']:.2f} s | {clean['return_code']} |\n")
+        summary.write(f"| Incremental | {incremental['duration_seconds']:.2f} s | {incremental['return_code']} |\n\n")
+        summary.write(f"Touched source: `{results['touched_source']}`\n")
+
+
+def parse_args() -> argparse.Namespace:
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument(
+        "--environment",
+        default="default",
+        help="Pixi environment containing the workspace build task.",
+    )
+    parser.add_argument(
+        "--output",
+        type=Path,
+        default=Path("build-benchmark.json"),
+        help="JSON file that receives the benchmark results.",
+    )
+    parser.add_argument(
+        "--source",
+        type=Path,
+        default=DEFAULT_SOURCE,
+        help="Existing C++ source to touch before the incremental build.",
+    )
+    return parser.parse_args()
+
+
+def main() -> int:
+    args = parse_args()
+    if not args.source.is_file():
+        raise FileNotFoundError(f"Incremental benchmark source does not exist: {args.source}")
+
+    subprocess.run(
+        ["pixi", "run", "-e", args.environment, "clean"],
+        check=True,
+    )
+    clean_build = run_timed(["pixi", "run", "-e", args.environment, "build"])
+
+    # Updating the timestamp makes the build system reconsider one translation unit.
+    # The file content stays unchanged, allowing compiler caches to reuse their output.
+    os.utime(args.source)
+    incremental_build = run_timed(["pixi", "run", "-e", args.environment, "build"])
+
+    results = {
+        "created_at": datetime.now(UTC).isoformat(),
+        "environment": args.environment,
+        "touched_source": str(args.source),
+        "clean_build": clean_build,
+        "incremental_build": incremental_build,
+    }
+    args.output.write_text(json.dumps(results, indent=2) + "\n", encoding="utf-8")
+
+    summary_path = os.environ.get("GITHUB_STEP_SUMMARY")
+    if summary_path:
+        append_github_summary(results, Path(summary_path))
+
+    return max(clean_build["return_code"], incremental_build["return_code"])
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())