diff --git a/airflow/jobs/scheduler_job_runner.py b/airflow/jobs/scheduler_job_runner.py
index 76385a26aa41a..c7088412de220 100644
--- a/airflow/jobs/scheduler_job_runner.py
+++ b/airflow/jobs/scheduler_job_runner.py
@@ -626,6 +626,8 @@ def _executable_task_instances_to_queued(self, max_tis: int, session: Session) -
                 },
                 synchronize_session=False,
             )
+            for ti in executable_tis:
+                ti.emit_state_change_metric(State.QUEUED)
 
         for ti in executable_tis:
             make_transient(ti)
diff --git a/airflow/models/taskinstance.py b/airflow/models/taskinstance.py
index 9fc8761bba242..184072e795b58 100644
--- a/airflow/models/taskinstance.py
+++ b/airflow/models/taskinstance.py
@@ -1352,7 +1352,9 @@ def check_and_change_state_before_execution(
 
         if not test_mode:
             session.add(Log(State.RUNNING, self))
+
         self.state = State.RUNNING
+        self.emit_state_change_metric(State.RUNNING)
         self.external_executor_id = external_executor_id
         self.end_date = None
         if not test_mode:
@@ -1392,6 +1394,52 @@ def _log_state(self, lead_msg: str = "") -> None:
             self._date_or_empty("end_date"),
         )
 
+    def emit_state_change_metric(self, new_state: TaskInstanceState):
+        """
+        Sends a time metric representing how much time a given state transition took.
+        The previous state and metric name is deduced from the state the task was put in.
+
+        :param new_state: The state that has just been set for this task.
+            We do not use `self.state`, because sometimes the state is updated directly in the DB and not in
+            the local TaskInstance object.
+            Supported states: QUEUED and RUNNING
+        """
+        if self.end_date:
+            # if the task has an end date, it means that this is not its first round.
+            # we send the state transition time metric only on the first try, otherwise it gets more complex.
+            return
+
+        # switch on state and deduce which metric to send
+        if new_state == State.RUNNING:
+            metric_name = "queued_duration"
+            if self.queued_dttm is None:
+                # this should not really happen except in tests or rare cases,
+                # but we don't want to create errors just for a metric, so we just skip it
+                self.log.warning(
+                    "cannot record %s for task %s because previous state change time has not been saved",
+                    metric_name,
+                    self.task_id,
+                )
+                return
+            timing = (timezone.utcnow() - self.queued_dttm).total_seconds()
+        elif new_state == State.QUEUED:
+            metric_name = "scheduled_duration"
+            if self.start_date is None:
+                # same comment as above
+                self.log.warning(
+                    "cannot record %s for task %s because previous state change time has not been saved",
+                    metric_name,
+                    self.task_id,
+                )
+                return
+            timing = (timezone.utcnow() - self.start_date).total_seconds()
+        else:
+            raise NotImplementedError("no metric emission setup for state %s", new_state)
+
+        # send metric twice, once (legacy) with tags in the name and once with tags as tags
+        Stats.timing(f"dag.{self.dag_id}.{self.task_id}.{metric_name}", timing)
+        Stats.timing(f"task.{metric_name}", timing, tags={"task_id": self.task_id, "dag_id": self.dag_id})
+
     # Ensure we unset next_method and next_kwargs to ensure that any
     # retries don't re-use them.
     def clear_next_method_args(self) -> None:
diff --git a/docs/apache-airflow/administration-and-deployment/logging-monitoring/metrics.rst b/docs/apache-airflow/administration-and-deployment/logging-monitoring/metrics.rst
index 3d00ebbae93c3..630a7ab12800c 100644
--- a/docs/apache-airflow/administration-and-deployment/logging-monitoring/metrics.rst
+++ b/docs/apache-airflow/administration-and-deployment/logging-monitoring/metrics.rst
@@ -164,7 +164,9 @@ Timers
 Name                                                Description
 =================================================== ========================================================================
 ``dagrun.dependency-check.<dag_id>``                Milliseconds taken to check DAG dependencies
-``dag.<dag_id>.<task_id>.duration``                 Seconds taken to finish a task
+``dag.<dag_id>.<task_id>.duration``                 Seconds taken to run a task
+``dag.<dag_id>.<task_id>.scheduled_duration``       Seconds a task spends in the Scheduled state, before being Queued
+``dag.<dag_id>.<task_id>.queued_duration``          Seconds a task spends in the Queued state, before being Running
 ``dag_processing.last_duration.<dag_file>``         Seconds taken to load the given DAG file
 ``dagrun.duration.success.<dag_id>``                Seconds taken for a DagRun to reach success state
 ``dagrun.duration.failed.<dag_id>``                 Milliseconds taken for a DagRun to reach failed state