diff --git a/gtsam/base/timing.cpp b/gtsam/base/timing.cpp
index b43595066..ecff40ebc 100644
--- a/gtsam/base/timing.cpp
+++ b/gtsam/base/timing.cpp
@@ -106,6 +106,56 @@ void TimingOutline::print(const std::string& outline) const {
 #endif
 }
 
+/* ************************************************************************* */
+void TimingOutline::print_csv_header(bool addLineBreak) const {
+#ifdef GTSAM_USE_BOOST_FEATURES
+  // Order is (CPU time, number of times, wall time, time + children in seconds,
+  // min time, max time)
+  std::cout << label_ + " cpu time (s)" << "," << label_ + " #calls" << ","
+            << label_ + " wall time(s)" << "," << label_ + " subtree time (s)"
+            << "," << label_ + " min time (s)" << "," << label_ + "max time(s)"
+            << ", ";
+  // Order children
+  typedef FastMap<size_t, std::shared_ptr<TimingOutline> > ChildOrder;
+  ChildOrder childOrder;
+  for (const ChildMap::value_type& child : children_) {
+    childOrder[child.second->myOrder_] = child.second;
+  }
+  // Print children
+  for (const ChildOrder::value_type& order_child : childOrder) {
+    order_child.second->print_csv_header();
+  }
+  if (addLineBreak) {
+    std::cout << std::endl;
+  }
+  std::cout.flush();
+#endif
+}
+
+/* ************************************************************************* */
+void TimingOutline::print_csv(bool addLineBreak) const {
+#ifdef GTSAM_USE_BOOST_FEATURES
+  // Order is (CPU time, number of times, wall time, time + children in seconds,
+  // min time, max time)
+  std::cout << self() << "," << n_ << "," << wall() << "," << secs() << ","
+            << min() << "," << max() << ", ";
+  // Order children
+  typedef FastMap<size_t, std::shared_ptr<TimingOutline> > ChildOrder;
+  ChildOrder childOrder;
+  for (const ChildMap::value_type& child : children_) {
+    childOrder[child.second->myOrder_] = child.second;
+  }
+  // Print children
+  for (const ChildOrder::value_type& order_child : childOrder) {
+    order_child.second->print_csv(false);
+  }
+  if (addLineBreak) {
+    std::cout << std::endl;
+  }
+  std::cout.flush();
+#endif
+}
+
 void TimingOutline::print2(const std::string& outline,
     const double parentTotal) const {
 #ifdef GTSAM_USE_BOOST_FEATURES
diff --git a/gtsam/base/timing.h b/gtsam/base/timing.h
index 99c55a3d7..dfc2928f1 100644
--- a/gtsam/base/timing.h
+++ b/gtsam/base/timing.h
@@ -199,6 +199,29 @@ namespace gtsam {
 #endif
       GTSAM_EXPORT void print(const std::string& outline = "") const;
       GTSAM_EXPORT void print2(const std::string& outline = "", const double parentTotal = -1.0) const;
+
+      /**
+       * @brief Print the CSV header.
+       * Order is
+       * (CPU time, number of times, wall time, time + children in seconds, min
+       * time, max time)
+       *
+       * @param addLineBreak Flag indicating if a line break should be added at
+       * the end. Only used at the top-leve.
+       */
+      GTSAM_EXPORT void print_csv_header(bool addLineBreak = false) const;
+
+      /**
+       * @brief Print the times recursively from parent to child in CSV format.
+       * For each timing node, the output is
+       * (CPU time, number of times, wall time, time + children in seconds, min
+       * time, max time)
+       *
+       * @param addLineBreak Flag indicating if a line break should be added at
+       * the end. Only used at the top-leve.
+       */
+      GTSAM_EXPORT void print_csv(bool addLineBreak = false) const;
+
       GTSAM_EXPORT const std::shared_ptr<TimingOutline>&
         child(size_t child, const std::string& label, const std::weak_ptr<TimingOutline>& thisPtr);
       GTSAM_EXPORT void tic();
@@ -268,6 +291,14 @@ inline void tictoc_finishedIteration_() {
 inline void tictoc_print_() {
   ::gtsam::internal::gTimingRoot->print(); }
 
+// print timing in CSV format
+inline void tictoc_print_csv_(bool displayHeader = false) {
+  if (displayHeader) {
+    ::gtsam::internal::gTimingRoot->print_csv_header(true);
+  }
+  ::gtsam::internal::gTimingRoot->print_csv(true);
+}
+
 // print mean and standard deviation
 inline void tictoc_print2_() {
   ::gtsam::internal::gTimingRoot->print2(); }