diff --git a/frogpilot/ui/qt/onroad/frogpilot_onroad.cc b/frogpilot/ui/qt/onroad/frogpilot_onroad.cc
index e9e0ea85..71cc40db 100644
--- a/frogpilot/ui/qt/onroad/frogpilot_onroad.cc
+++ b/frogpilot/ui/qt/onroad/frogpilot_onroad.cc
@@ -15,6 +15,30 @@ void FrogPilotOnroadWindow::updateState(const UIState &s, const FrogPilotUIState
   const cereal::CarState::Reader &carState = sm["carState"].getCarState();
   const cereal::CarControl::Reader &carControl = fpsm["carControl"].getCarControl();
 
+  showFPS = frogpilot_toggles.value("show_fps").toBool();
+
+  if (showFPS) {
+    static float avgFPS = 0.0f;
+    static float maxFPS = 0.0f;
+    static float minFPS = 99.9f;
+
+    if (avgFPS == 0.0f) {
+      avgFPS = fps;
+    }
+
+    static float alpha = 1.0f / (UI_FREQ * 60.0f);
+    avgFPS = alpha * fps + (1.0f - alpha) * avgFPS;
+
+    minFPS = std::min(minFPS, fps);
+    maxFPS = std::max(maxFPS, fps);
+
+    fpsDisplayString = QString("FPS: %1 | Min: %2 | Max: %3 | Avg: %4")
+                          .arg(qRound(fps))
+                          .arg(qRound(minFPS))
+                          .arg(qRound(maxFPS))
+                          .arg(qRound(avgFPS));
+  }
+
   update();
 }
 
@@ -23,4 +47,22 @@ void FrogPilotOnroadWindow::paintEvent(QPaintEvent *event) {
 
   p.setClipRegion(marginRegion);
   p.setRenderHints(QPainter::Antialiasing | QPainter::TextAntialiasing);
+
+  if (showFPS) {
+    paintFPS(p);
+  }
+}
+
+void FrogPilotOnroadWindow::paintFPS(QPainter &p) {
+  p.save();
+
+  p.setFont(InterFont(28, QFont::DemiBold));
+  p.setPen(Qt::white);
+
+  int xPos = (rect.width() - p.fontMetrics().horizontalAdvance(fpsDisplayString)) / 2;
+  int yPos = rect.bottom() - 5;
+
+  p.drawText(xPos, yPos, fpsDisplayString);
+
+  p.restore();
 }
diff --git a/frogpilot/ui/qt/onroad/frogpilot_onroad.h b/frogpilot/ui/qt/onroad/frogpilot_onroad.h
index 5964e965..e8f4d4a7 100644
--- a/frogpilot/ui/qt/onroad/frogpilot_onroad.h
+++ b/frogpilot/ui/qt/onroad/frogpilot_onroad.h
@@ -10,6 +10,8 @@ public:
 
   void updateState(const UIState &s, const FrogPilotUIState &fs);
 
+  float fps;
+
   FrogPilotUIScene frogpilot_scene;
 
   QColor bg;
@@ -18,9 +20,14 @@ public:
 
 private:
   void paintEvent(QPaintEvent *event);
+  void paintFPS(QPainter &p);
   void resizeEvent(QResizeEvent *event);
 
+  bool showFPS;
+
   QRect rect;
 
   QRegion marginRegion;
+
+  QString fpsDisplayString;
 };
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc
index 9551d557..0e00f9a4 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.cc
+++ b/selfdrive/ui/qt/onroad/annotated_camera.cc
@@ -163,7 +163,7 @@ void AnnotatedCameraWidget::paintGL() {
 
   double cur_draw_t = millis_since_boot();
   double dt = cur_draw_t - prev_draw_t;
-  double fps = fps_filter.update(1. / dt * 1000);
+  fps = fps_filter.update(1. / dt * 1000);
   if (fps < 15) {
     LOGW("slow frame rate: %.2f fps", fps);
   }
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.h b/selfdrive/ui/qt/onroad/annotated_camera.h
index 3179b7a8..85017a54 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.h
+++ b/selfdrive/ui/qt/onroad/annotated_camera.h
@@ -18,6 +18,8 @@ public:
   void updateState(const UIState &s, const FrogPilotUIState &fs);
 
   // FrogPilot variables
+  double fps;
+
   FrogPilotAnnotatedCameraWidget *frogpilot_nvg;
 
   FrogPilotUIScene frogpilot_scene;
diff --git a/selfdrive/ui/qt/onroad/onroad_home.cc b/selfdrive/ui/qt/onroad/onroad_home.cc
index 9d75cf49..0c968616 100644
--- a/selfdrive/ui/qt/onroad/onroad_home.cc
+++ b/selfdrive/ui/qt/onroad/onroad_home.cc
@@ -73,6 +73,7 @@ void OnroadWindow::updateState(const UIState &s, const FrogPilotUIState &fs) {
   frogpilot_nvg->alertHeight = alerts->alertHeight;
 
   frogpilot_onroad->bg = bg;
+  frogpilot_onroad->fps = nvg->fps;
 
   nvg->frogpilot_nvg = frogpilot_nvg;