diff --git a/cpp/serve/engine.cc b/cpp/serve/engine.cc
index 2f09219392..6a5215ca76 100644
--- a/cpp/serve/engine.cc
+++ b/cpp/serve/engine.cc
@@ -19,8 +19,10 @@
 #include <functional>
 #include <numeric>
 #include <optional>
+#include <thread>
 #include <tuple>
 #include <unordered_set>
+#include <vector>
 
 #include "../support/json_parser.h"
 #include "../support/result.h"
@@ -450,24 +452,80 @@ class EngineImpl : public Engine {
                "enabled and not implemented with hybrid prefill yet.";
       }
     }
-    // - Load model weights, create KV cache and workspace.
+
+    // - Concurrently load model weights, create KV cache, and initialize tokenizer.
+    std::vector<std::thread> workers;
+    std::exception_ptr load_params_exptr = nullptr;
+    std::exception_ptr create_kv_cache_exptr = nullptr;
+    std::exception_ptr tokenizer_exptr = nullptr;
+
+    // Create KV Cache threads
+    for (const Model& model : n->models_) {
+      workers.emplace_back([&, model, engine_config]() {
+        try {
+          NVTXScopedRange nvtx_scope("CreateKVCache");
+          model->SetMaxNumSequence(engine_config->max_num_sequence);
+          model->SetPrefillChunkSize(engine_config->prefill_chunk_size);
+          model->CreateKVCache(engine_config->kv_cache_page_size, engine_config->max_num_sequence,
+                               engine_config->max_total_sequence_length,
+                               engine_config->prefill_chunk_size, engine_config->max_history_size);
+        } catch (...) {
+          create_kv_cache_exptr = std::current_exception();
+        }
+      });
+    }
+
+    // Load Params threads
+    for (const Model& model : n->models_) {
+      workers.emplace_back([&, model]() {
+        try {
+          NVTXScopedRange nvtx_scope("LoadParams");
+          model->LoadParams();
+        } catch (...) {
+          load_params_exptr = std::current_exception();
+        }
+      });
+    }
+
+    // Tokenizer thread
+    workers.emplace_back([&]() {
+      try {
+        NVTXScopedRange nvtx_scope("Load Tokenizer");
+        n->tokenizer_ =
+            Tokenizer::FromPath(engine_config->model, GetTokenizerInfo(model_configs[0]));
+      } catch (...) {
+        tokenizer_exptr = std::current_exception();
+      }
+    });
+
+    // Wait for all tasks to complete
+    for (auto& worker : workers) {
+      worker.join();
+    }
+
+    // Check for exceptions
+    if (create_kv_cache_exptr) {
+      std::rethrow_exception(create_kv_cache_exptr);
+    }
+    if (load_params_exptr) {
+      std::rethrow_exception(load_params_exptr);
+    }
+    if (tokenizer_exptr) {
+      std::rethrow_exception(tokenizer_exptr);
+    }
+
+    // - Initialize model workspaces (needs KV cache to be ready for potential allocations)
     n->model_workspaces_.clear();
     for (const Model& model : n->models_) {
-      model->LoadParams();
-      model->SetMaxNumSequence(engine_config->max_num_sequence);
-      model->SetPrefillChunkSize(engine_config->prefill_chunk_size);
-      model->CreateKVCache(engine_config->kv_cache_page_size, engine_config->max_num_sequence,
-                           engine_config->max_total_sequence_length,
-                           engine_config->prefill_chunk_size, engine_config->max_history_size);
       n->model_workspaces_.push_back(
           ModelWorkspace{model->AllocEmbeddingTensor(), model->AllocHiddenStatesTensor()});
     }
-    // - Initialize tokenizer and grammar
-    n->tokenizer_ = Tokenizer::FromPath(engine_config->model, GetTokenizerInfo(model_configs[0]));
+
+    // - Initialize grammar related components (needs tokenizer)
     n->token_table_ = n->tokenizer_->PostProcessedTokenTable();
     n->cached_grammar_compiler_ = xgrammar::CachedGrammarCompiler(n->token_table_);
-    // - Create the logit processor and sampler, and
-    // the DraftTokenWorkspaceManager for speculative decoding.
+
+    // - Create the logit processor, sampler, and DraftTokenWorkspaceManager
     int max_num_tokens = engine_config->max_num_sequence;
     DraftTokenWorkspaceManager draft_token_workspace_manager{nullptr};
     if (engine_config->speculative_mode != SpeculativeMode::kDisable) {