diff --git a/Cargo.toml b/Cargo.toml
index 4f0b7fcc7e..c3b4f98384 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -23,11 +23,15 @@ futures = "0.3.30"
 clap = { version = "4.5.4", features = ["derive"] }
 serde = { version = "1.0", features = ["derive"], optional = true }
 serde_bytes = "0.11"
+arbitrary = { version = "1", features = ["derive"], optional = true }
 
 [dev-dependencies]
 tracing-test = "0.2.4"
 tracing-subscriber = "0.3.19"
 udp-stream = "0.0.12"
+arbitrary = { version = "1.4.1", features = ["derive"] }
+criterion = { version = "0.5.1", features = ["html_reports", "async_tokio"] }
+rand = "0.9.1"
 
 [build-dependencies]
 convert_case = "0.6.0"
@@ -35,7 +39,17 @@ quote = "1.0"
 proc-macro2 = "1.0.24"
 serde = { version = "1.0", features = ["derive"] }
 serde_json = "1.0.64"
+arbitrary = { version = "1.4.1", features = ["derive"] }
 
 [features]
 local_runner = []
+arbitrary = ["dep:arbitrary"]
 default = ["serde"]
+
+[[bench]]
+name = "bench_codec"
+harness = false
+
+[[bench]]
+name = "bench_parser"
+harness = false
diff --git a/benches/bench_codec.rs b/benches/bench_codec.rs
new file mode 100644
index 0000000000..253b05d10d
--- /dev/null
+++ b/benches/bench_codec.rs
@@ -0,0 +1,129 @@
+mod helper;
+
+use bluerobotics_ping::{codec::PingCodec, message::ProtocolMessage};
+use criterion::{
+    black_box, criterion_group, criterion_main, AxisScale, BatchSize, BenchmarkId, Criterion,
+    PlotConfiguration, Throughput,
+};
+use futures::{SinkExt, StreamExt};
+use helper::protocol_message_from_messages;
+use rand::{rngs::StdRng, SeedableRng};
+use tokio_util::codec::{Decoder, Encoder, FramedRead, FramedWrite};
+
+fn benchmark_decode(c: &mut Criterion) {
+    let seed = 42;
+    let mut rng: StdRng = SeedableRng::seed_from_u64(seed);
+
+    let mut group = c.benchmark_group("decode");
+    group
+        .measurement_time(std::time::Duration::from_secs(10))
+        .significance_level(0.01)
+        .sample_size(1000)
+        .plot_config(PlotConfiguration::default().summary_scale(AxisScale::Logarithmic));
+
+    for messages_count in &vec![1, 10, 100, 1000, 10000] {
+        group.throughput(Throughput::Elements(*messages_count));
+
+        let buffer = helper::create_random_protocol_messages(&mut rng, *messages_count as usize)
+            .iter()
+            .map(|protocol_message| protocol_message.serialized())
+            .flatten()
+            .collect::<Vec<u8>>();
+
+        group.bench_function(BenchmarkId::new("sync", messages_count), |b| {
+            b.to_async(&helper::rt()).iter_batched(
+                || {
+                    let buffer = bytes::BytesMut::from(buffer.as_slice());
+                    (buffer, PingCodec::new())
+                },
+                |(mut buffer, mut codec)| async move {
+                    for _ in 0..*messages_count {
+                        let _protocol_message =
+                            black_box(codec.decode(&mut buffer).unwrap().unwrap());
+                    }
+                },
+                BatchSize::SmallInput,
+            )
+        });
+
+        group.bench_function(BenchmarkId::new("async-framed", messages_count), |b| {
+            b.to_async(&helper::rt()).iter_batched(
+                || {
+                    let codec = PingCodec::new();
+                    let framed_read = FramedRead::new(buffer.as_slice(), codec);
+
+                    framed_read
+                },
+                |mut framed_read| async move {
+                    for _ in 0..*messages_count {
+                        let _protocol_message =
+                            black_box(framed_read.next().await.unwrap().unwrap());
+                    }
+                },
+                BatchSize::SmallInput,
+            )
+        });
+    }
+
+    group.finish();
+}
+
+fn benchmark_encode(c: &mut Criterion) {
+    let seed = 42;
+    let mut rng: StdRng = SeedableRng::seed_from_u64(seed);
+
+    let mut group = c.benchmark_group("encode");
+    group
+        .measurement_time(std::time::Duration::from_secs(10))
+        .significance_level(0.1)
+        .sample_size(1000)
+        .plot_config(PlotConfiguration::default().summary_scale(AxisScale::Logarithmic));
+
+    for messages_count in &vec![1, 10, 100, 1000, 10000] {
+        group.throughput(Throughput::Elements(*messages_count));
+
+        let protocol_messages = helper::create_random_messages(&mut rng, *messages_count as usize)
+            .iter()
+            .map(protocol_message_from_messages)
+            .collect::<Vec<ProtocolMessage>>();
+        let buffer: Vec<u8> =
+            Vec::with_capacity(*messages_count as usize * size_of::<ProtocolMessage>());
+
+        group.bench_function(BenchmarkId::new("sync", messages_count), |b| {
+            b.to_async(&helper::rt()).iter_batched(
+                || {
+                    let buffer = bytes::BytesMut::from(buffer.as_slice());
+                    (protocol_messages.clone(), buffer, PingCodec::new())
+                },
+                |(protocol_messages, mut buffer, mut codec)| async move {
+                    for protocol_message in protocol_messages {
+                        codec.encode(protocol_message, &mut buffer).unwrap();
+                    }
+                },
+                BatchSize::SmallInput,
+            )
+        });
+
+        group.bench_function(BenchmarkId::new("async-framed", messages_count), |b| {
+            b.to_async(&helper::rt()).iter_batched(
+                || {
+                    let codec = PingCodec::new();
+                    let framed_write = FramedWrite::new(buffer.clone(), codec);
+
+                    (protocol_messages.clone(), framed_write)
+                },
+                |(messages, mut framed_write)| async move {
+                    for protocol_message in messages {
+                        framed_write.send(protocol_message).await.unwrap();
+                    }
+                },
+                BatchSize::SmallInput,
+            )
+        });
+    }
+
+    group.finish();
+}
+
+criterion_group!(benches, benchmark_decode, benchmark_encode);
+criterion_main!(benches);
diff --git a/benches/bench_parser.rs b/benches/bench_parser.rs
new file mode 100644
index 0000000000..af0599e461
--- /dev/null
+++ b/benches/bench_parser.rs
@@ -0,0 +1,83 @@
+mod helper;
+
+use bluerobotics_ping::{message::ProtocolMessage, Messages};
+use criterion::{
+    black_box, criterion_group, criterion_main, AxisScale, BatchSize, BenchmarkId, Criterion,
+    PlotConfiguration, Throughput,
+};
+use helper::protocol_message_from_messages;
+use rand::{rngs::StdRng, SeedableRng};
+
+fn benchmark_protocol_message_to_messages(c: &mut Criterion) {
+    let seed = 42;
+    let mut rng: StdRng = SeedableRng::seed_from_u64(seed);
+
+    let mut group = c.benchmark_group("protocol_message_to_messages");
+    group
+        .measurement_time(std::time::Duration::from_secs(10))
+        .significance_level(0.01)
+        .sample_size(1000)
+        .plot_config(PlotConfiguration::default().summary_scale(AxisScale::Logarithmic));
+
+    for messages_count in &vec![1, 100, 10000] {
+        group.throughput(Throughput::Elements(*messages_count));
+
+        let protocol_messages = helper::create_random_messages(&mut rng, *messages_count as usize)
+            .iter()
+            .map(protocol_message_from_messages)
+            .collect::<Vec<ProtocolMessage>>();
+
+        group.bench_function(BenchmarkId::new("sync", messages_count), |b| {
+            b.to_async(&helper::rt()).iter_batched(
+                || protocol_messages.clone(),
+                |protocol_messages| async move {
+                    for protocol_message in &protocol_messages {
+                        let _message = black_box(Messages::try_from(protocol_message).unwrap());
+                    }
+                },
+                BatchSize::SmallInput,
+            )
+        });
+    }
+
+    group.finish();
+}
+
+fn benchmark_messages_to_protocol_message(c: &mut Criterion) {
+    let seed = 42;
+    let mut rng: StdRng = SeedableRng::seed_from_u64(seed);
+
+    let mut group = c.benchmark_group("messages_to_protocol_message");
+    group
+        .measurement_time(std::time::Duration::from_secs(10))
+        .significance_level(0.01)
+        .sample_size(1000)
+        .plot_config(PlotConfiguration::default().summary_scale(AxisScale::Logarithmic));
+
+    for messages_count in &vec![1, 100, 10000] {
+        group.throughput(Throughput::Elements(*messages_count));
+
+        let messages = helper::create_random_messages(&mut rng, *messages_count as usize);
+
+        group.bench_function(BenchmarkId::new("sync", messages_count), |b| {
+            b.to_async(&helper::rt()).iter_batched(
+                || messages.clone(),
+                |messages| async move {
+                    for message in &messages {
+                        let _protocol_message = black_box(protocol_message_from_messages(message));
+                    }
+                },
+                BatchSize::SmallInput,
+            )
+        });
+    }
+
+    group.finish();
+}
+
+criterion_group!(
+    benches,
+    benchmark_protocol_message_to_messages,
+    benchmark_messages_to_protocol_message
+);
+criterion_main!(benches);
diff --git a/benches/helper.rs b/benches/helper.rs
new file mode 100644
index 0000000000..992fbbcbae
--- /dev/null
+++ b/benches/helper.rs
@@ -0,0 +1,55 @@
+use bluerobotics_ping::{message::ProtocolMessage, Messages};
+use rand::rngs::StdRng;
+use tokio::runtime::Runtime;
+
+pub fn rt() -> Runtime {
+    tokio::runtime::Builder::new_multi_thread()
+        .enable_all()
+        .thread_name("criterion-tokio-rt")
+        .build()
+        .unwrap()
+}
+
+#[cfg(feature = "arbitrary")]
+pub fn create_random_messages(mut rng: &mut StdRng, count: usize) -> Vec<Messages> {
+    use arbitrary::Arbitrary;
+
+    let mut messages = Vec::with_capacity(count);
+
+    for _ in 0..count {
+        let mut buf = [0u8; 1024]; // plenty of bytes available
+        rand::RngCore::fill_bytes(&mut rng, &mut buf);
+
+        let mut u = arbitrary::Unstructured::new(&buf);
+
+        if let Ok(msg) = Messages::arbitrary(&mut u) {
+            messages.push(msg);
+        }
+    }
+
+    messages
+}
+#[cfg(not(feature = "arbitrary"))]
+pub fn create_random_messages(_rng: &mut StdRng, _count: usize) -> Vec<Messages> {
+    panic!("Missing 'arbitrary' feature. Re-run it with `--features=arbitrary`")
+}
+
+pub fn create_random_protocol_messages(rng: &mut StdRng, count: usize) -> Vec<ProtocolMessage> {
+    create_random_messages(rng, count)
+        .iter()
+        .map(protocol_message_from_messages)
+        .collect()
+}
+
+#[inline(always)]
+pub fn protocol_message_from_messages(message: &Messages) -> ProtocolMessage {
+    let mut protocol_message = ProtocolMessage::new();
+    match message {
+        Messages::Ping360(message) => protocol_message.set_message(message),
+        Messages::Omniscan450(message) => protocol_message.set_message(message),
+        Messages::Bluebps(message) => protocol_message.set_message(message),
+        Messages::Ping1D(message) => protocol_message.set_message(message),
+        Messages::Common(message) => protocol_message.set_message(message),
+    }
+    protocol_message
+}
diff --git a/build/binder.rs b/build/binder.rs
index 8b937aff9d..919866ebbc 100644
--- a/build/binder.rs
+++ b/build/binder.rs
@@ -159,6 +159,7 @@ pub fn generate<W: Write>(modules: Vec<String>, out: &mut W) {
 
         #[derive(Debug, Clone)]
         #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
+        #[cfg_attr(any(test, feature = "arbitrary"), derive(arbitrary::Arbitrary))]
         #enum_ident
 
         #try_from_ident
diff --git a/build/parser.rs b/build/parser.rs
index ea04cf6407..9480312baf 100644
--- a/build/parser.rs
+++ b/build/parser.rs
@@ -12,12 +12,14 @@ macro_rules! ident {
 }
 
 #[derive(Debug)]
+#[cfg_attr(any(test, feature = "arbitrary"), derive(arbitrary::Arbitrary))]
 struct VectorType {
     size_type: Option<PayloadType>,
     data_type: PayloadType,
 }
 
 #[derive(Debug)]
+#[cfg_attr(any(test, feature = "arbitrary"), derive(arbitrary::Arbitrary))]
 enum PayloadType {
     CHAR,
     U8,
@@ -92,6 +94,7 @@ impl PayloadType {
 }
 
 #[derive(Debug)]
+#[cfg_attr(any(test, feature = "arbitrary"), derive(arbitrary::Arbitrary))]
 struct Payload {
     name: String,
     description: Option<String>,
@@ -141,6 +144,7 @@ impl Payload {
 }
 
 #[derive(Debug)]
+#[cfg_attr(any(test, feature = "arbitrary"), derive(arbitrary::Arbitrary))]
 struct MessageDefinition {
     name: String,
     id: u16,
@@ -151,6 +155,7 @@ struct MessageDefinition {
 }
 
 #[derive(Debug, PartialEq)]
+#[cfg_attr(any(test, feature = "arbitrary"), derive(arbitrary::Arbitrary))]
 enum MessageDefinitionCategory {
     Set,
     Get,
@@ -451,6 +456,7 @@ impl MessageDefinition {
         quote! {
             #[derive(Debug, Clone, PartialEq, Default)]
             #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
+            #[cfg_attr(any(test, feature = "arbitrary"), derive(arbitrary::Arbitrary))]
             #[doc = #comment]
             pub struct #struct_name {
                 #(#variables)*
@@ -488,6 +494,7 @@ pub fn emit_protocol_wrapper() -> TokenStream {
     quote! {
         #[derive(Debug, Clone, PartialEq, Default)]
         #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
+        #[cfg_attr(any(test, feature = "arbitrary"), derive(arbitrary::Arbitrary))]
         pub struct PingProtocolHead {
             pub source_device_id: u8,
             pub destiny_device_id: u8,
@@ -616,6 +623,7 @@ pub fn generate<R: Read, W: Write>(input: &mut R, output_rust: &mut W) {
     let message_enums = quote! {
         #[derive(Debug, Clone, PartialEq)]
         #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
+        #[cfg_attr(any(test, feature = "arbitrary"), derive(arbitrary::Arbitrary))]
         pub enum Messages {
             #(#message_enums)*
         }