diff --git a/ffi/scripts/benchmark_dlpack.py b/ffi/scripts/benchmark_dlpack.py
new file mode 100644
index 000000000000..b19f566364e4
--- /dev/null
+++ b/ffi/scripts/benchmark_dlpack.py
@@ -0,0 +1,345 @@
+# Licensed to the Apache Software Foundation (ASF) under one
+# or more contributor license agreements.  See the NOTICE file
+# distributed with this work for additional information
+# regarding copyright ownership.  The ASF licenses this file
+# to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance
+# with the License.  You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing,
+# software distributed under the License is distributed on an
+# "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
+# KIND, either express or implied.  See the License for the
+# specific language governing permissions and limitations
+# under the License.
+"""
+This script is used to benchmark the API overhead of different
+python FFI API calling overhead, through DLPack API.
+
+Specifically, we would like to understand the overall overhead
+python/C++ API calls. The general goal is to understand the overall
+space and get a sense of what are the possible operations.
+
+We pick function f(x, y, z) where x, y, z are length 1 tensors.
+The benchmark is running in eager mode so we can see what is possible.
+It is orthogonal to other optimizations. For example cudagraph can
+eliminate these overheads completely. So the goal is to get a sense
+of what is possible under eager mode.
+
+Summary of some takeaways:
+- numpy.add roughly takes 0.36 us per call, which gives roughly what can
+  be done in python env.
+- torch.add on gpu takes about 3.7us per call, giving us an idea of what
+  roughly we need to get to in eager mode.
+-
+
+"""
+import torch
+import numpy as np
+from tvm import ffi as tvm_ffi
+import time
+
+
+def print_speed(name, speed):
+    print(f"{name:<40} {speed} sec/call")
+
+
+def print_error(name, error):
+    print(f"{name:<40} {error}")
+
+
+def baseline_torch_add(repeat):
+    """Run torch.add with one element"""
+
+    def run_bench(device):
+        x = torch.arange(1, device=device)
+        y = torch.arange(1, device=device)
+        z = torch.arange(1, device=device)
+
+        torch.add(x, y, out=z)
+        if device == "cuda":
+            torch.cuda.synchronize()
+        start = time.time()
+        for i in range(repeat):
+            torch.add(x, y, out=z)
+        # note we deliberately do not use torch.cuda.synchronize()
+        # because we want to see the overhead of the FFI call.
+        end = time.time()
+        print_speed(f"torch.add[{device}]", (end - start) / repeat)
+
+    # rough take away: add on cuda roughly takes 3e-6 sec/call
+    run_bench("cpu")
+    run_bench("cuda")
+
+
+def baseline_numpy_add(repeat):
+    """Run numpy.add with one element"""
+    x = np.arange(1)
+    y = np.arange(1)
+    z = np.arange(1)
+
+    np.add(x, y, out=z)
+    start = time.time()
+    for i in range(repeat):
+        np.add(x, y, out=z)
+    end = time.time()
+    speed = (end - start) / repeat
+    print_speed("numpy.add", speed)
+
+
+def baseline_cupy_add(repeat):
+    """Run cupy.add with one element"""
+    try:
+        import cupy
+    except ImportError:
+        # skip if cupy is not installed
+        return
+    x = cupy.arange(1)
+    y = cupy.arange(1)
+    z = cupy.arange(1)
+
+    cupy.add(x, y, out=z)
+    start = time.time()
+    for i in range(repeat):
+        cupy.add(x, y, out=z)
+    end = time.time()
+    speed = (end - start) / repeat
+    print_speed("cupy.add", speed)
+
+
+def tvm_ffi_nop(repeat):
+    """Overhead of tvm FFI python call via calling a NOP.
+
+    testing.nop is defined in c++ and do nothing.
+    """
+    nop = tvm_ffi.get_global_func("testing.nop")
+    x = tvm_ffi.from_dlpack(torch.arange(1))
+    y = tvm_ffi.from_dlpack(torch.arange(1))
+    z = tvm_ffi.from_dlpack(torch.arange(1))
+    nop(x, y, z)
+    start = time.time()
+    for i in range(repeat):
+        y = tvm_ffi.from_dlpack(x)
+    end = time.time()
+    print_speed("tvm.ffi.nop", (end - start) / repeat)
+
+
+def bench_ffi_nop_from_dlpack(name, x, y, z, repeat):
+    """run dlpack conversion + tvm.ffi.nop
+
+    Measures overhead of running dlpack for each args then invoke
+    """
+    nop = tvm_ffi.get_global_func("testing.nop")
+    tx = tvm_ffi.from_dlpack(x)
+    ty = tvm_ffi.from_dlpack(y)
+    tz = tvm_ffi.from_dlpack(z)
+    nop(tx, ty, tz)
+
+    start = time.time()
+    for i in range(repeat):
+        tx = tvm_ffi.from_dlpack(x)
+        ty = tvm_ffi.from_dlpack(y)
+        tz = tvm_ffi.from_dlpack(z)
+        nop(tx, ty, tz)
+    end = time.time()
+    print_speed(name, (end - start) / repeat)
+
+
+def tvm_ffi_nop_from_torch_dlpack(repeat):
+    """run dlpack conversion + tvm.ffi.nop
+
+    Measures overhead of running dlpack for each args then invoke
+    """
+    x = torch.arange(1)
+    y = torch.arange(1)
+    z = torch.arange(1)
+    bench_ffi_nop_from_dlpack("tvm.ffi.nop+from_dlpack(torch)", x, y, z, repeat)
+
+
+def tvm_ffi_nop_from_numpy_dlpack(repeat):
+    """run dlpack conversion + tvm.ffi.nop
+
+    Measures overhead of running dlpack for each args then invoke
+    """
+    x = np.arange(1)
+    y = np.arange(1)
+    z = np.arange(1)
+    bench_ffi_nop_from_dlpack("tvm.ffi.nop+from_dlpack(numpy)", x, y, z, repeat)
+
+
+def tvm_ffi_self_dlpack_nop(repeat):
+    """run dlpack conversion + tvm.ffi.nop
+
+    Measures overhead of running dlpack for each args then invoke
+    """
+    x = tvm_ffi.from_dlpack(torch.arange(1))
+    y = tvm_ffi.from_dlpack(torch.arange(1))
+    z = tvm_ffi.from_dlpack(torch.arange(1))
+    bench_ffi_nop_from_dlpack("tvm.ffi.nop+from_dlpack(tvm)", x, y, z, repeat)
+
+
+def bench_ffi_nop_from_dlpack(name, x, y, z, repeat):
+    """run dlpack conversion + tvm.ffi.nop
+
+    Measures overhead of running dlpack for each args then invoke
+    """
+    nop = tvm_ffi.get_global_func("testing.nop")
+    tx = tvm_ffi.from_dlpack(x)
+    ty = tvm_ffi.from_dlpack(y)
+    tz = tvm_ffi.from_dlpack(z)
+    nop(tx, ty, tz)
+
+    start = time.time()
+    for i in range(repeat):
+        tx = tvm_ffi.from_dlpack(x)
+        ty = tvm_ffi.from_dlpack(y)
+        tz = tvm_ffi.from_dlpack(z)
+        nop(tx, ty, tz)
+    end = time.time()
+    print_speed(name, (end - start) / repeat)
+
+
+def tvm_ffi_nop_from_torch_utils_to_dlpack(repeat):
+    """
+    Measures overhead of running dlpack for each args then invoke
+    but uses the legacy torch.utils.dlpack.to_dlpack API
+
+    This helps to measure possible implementation overhead of torch.
+    """
+    nop = tvm_ffi.get_global_func("testing.nop")
+    x = torch.arange(1)
+    y = torch.arange(1)
+    z = torch.arange(1)
+
+    tx = tvm_ffi.from_dlpack(torch.utils.dlpack.to_dlpack(x))
+    ty = tvm_ffi.from_dlpack(torch.utils.dlpack.to_dlpack(y))
+    tz = tvm_ffi.from_dlpack(torch.utils.dlpack.to_dlpack(z))
+    nop(tx, ty, tz)
+
+    start = time.time()
+    for i in range(repeat):
+        tx = tvm_ffi.from_dlpack(torch.utils.dlpack.to_dlpack(x))
+        ty = tvm_ffi.from_dlpack(torch.utils.dlpack.to_dlpack(y))
+        tz = tvm_ffi.from_dlpack(torch.utils.dlpack.to_dlpack(z))
+        nop(tx, ty, tz)
+    end = time.time()
+    speed = (end - start) / repeat
+    print_speed("tvm.ffi.nop+from_dlpack(torch.utils)", speed)
+
+
+def bench_tvm_ffi_nop_autodlpack(name, x, y, z, repeat):
+    """
+    Measures overhead of running dlpack via auto convert by directly
+    take torch.Tensor as inputs.
+    """
+    nop = tvm_ffi.get_global_func("testing.nop")
+    nop(x, y, z)
+    start = time.time()
+    for i in range(repeat):
+        nop(x, y, z)
+    end = time.time()
+    speed = (end - start) / repeat
+    print_speed(name, speed)
+
+
+def tvm_ffi_nop_autodlpack_from_torch(repeat, device="cpu"):
+    """
+    Measures overhead of running dlpack via auto convert by directly
+    take torch.Tensor as inputs.
+    """
+    # use larger to ensure alignment req is met
+    x = torch.arange(1, device=device)
+    y = torch.arange(1, device=device)
+    z = torch.arange(1, device=device)
+    bench_tvm_ffi_nop_autodlpack(f"tvm.ffi.nop.autodlpack(torch[{device}])", x, y, z, repeat)
+
+
+def tvm_ffi_nop_autodlpack_from_numpy(repeat):
+    """
+    Measures overhead of running dlpack via auto convert by directly
+    take numpy.ndarray as inputs.
+    """
+    # use larger to ensure alignment req is met
+    x = np.arange(256)
+    y = np.arange(256)
+    z = np.arange(256)
+    bench_tvm_ffi_nop_autodlpack("tvm.ffi.nop.autodlpack(numpy)", x, y, z, repeat)
+
+
+def bench_to_dlpack(x, name, repeat):
+    x.__dlpack__()
+    start = time.time()
+    for i in range(repeat):
+        x.__dlpack__()
+    end = time.time()
+    speed = (end - start) / repeat
+    print_speed(name, speed)
+
+
+def bench_to_dlpack_versioned(x, name, repeat, max_version=(1, 1)):
+    """
+    Measures overhead of running dlpack with latest 1.1.
+    """
+    try:
+        x.__dlpack__(max_version=max_version)
+        start = time.time()
+        for i in range(repeat):
+            x.__dlpack__(max_version=max_version)
+        end = time.time()
+        speed = (end - start) / repeat
+        print_speed(name, speed)
+    except Exception as e:
+        print_error(name, e)
+
+
+def bench_torch_utils_to_dlpack(repeat):
+    """
+    Measures overhead of running torch.utils.dlpack.to_dlpack
+    """
+    x = torch.arange(1)
+    torch.utils.dlpack.to_dlpack(x)
+    start = time.time()
+    for i in range(repeat):
+        torch.utils.dlpack.to_dlpack(x)
+    end = time.time()
+    speed = (end - start) / repeat
+    print_speed("torch.utils.dlpack.to_dlpack", speed)
+
+
+def main():
+    repeat = 10000
+    print("-----------------------------")
+    print("Benchmark f(x, y, z) overhead")
+    print("-----------------------------")
+    baseline_numpy_add(repeat)
+    baseline_torch_add(repeat)
+    baseline_cupy_add(repeat)
+    tvm_ffi_nop(repeat)
+    tvm_ffi_nop_from_torch_dlpack(repeat)
+    tvm_ffi_nop_from_numpy_dlpack(repeat)
+    tvm_ffi_self_dlpack_nop(repeat)
+    tvm_ffi_nop_from_torch_utils_to_dlpack(repeat)
+    tvm_ffi_nop_autodlpack_from_torch(repeat, "cpu")
+    tvm_ffi_nop_autodlpack_from_torch(repeat, "cuda")
+    tvm_ffi_nop_autodlpack_from_numpy(repeat)
+    print("-------------------------------")
+    print("Benchmark x.__dlpack__ overhead")
+    print("-------------------------------")
+    bench_torch_utils_to_dlpack(repeat)
+    bench_to_dlpack(torch.arange(1), "torch.__dlpack__", repeat)
+    bench_to_dlpack(np.arange(1), "numpy.__dlpack__", repeat)
+    bench_to_dlpack(tvm_ffi.from_dlpack(torch.arange(1)), "tvm.__dlpack__", repeat)
+    print("---------------------------------------------------")
+    print("Benchmark x.__dlpack__(max_version=(1,1)) overhead")
+    print("---------------------------------------------------")
+    bench_to_dlpack_versioned(torch.arange(1), "torch.__dlpack__(max_version=(1,1))", repeat)
+    bench_to_dlpack_versioned(np.arange(1), "numpy.__dlpack__(max_version=(1,1))", repeat)
+    bench_to_dlpack_versioned(
+        tvm_ffi.from_dlpack(torch.arange(1)), "tvm.__dlpack__(max_version=(1,1))", repeat
+    )
+
+
+if __name__ == "__main__":
+    main()
diff --git a/python/tvm/ffi/convert.py b/python/tvm/ffi/convert.py
index 467f7a2fb491..5b25ddae259b 100644
--- a/python/tvm/ffi/convert.py
+++ b/python/tvm/ffi/convert.py
@@ -54,6 +54,11 @@ def convert(value: Any) -> Any:
         return core._convert_to_ffi_func(value)
     elif value is None:
         return None
+    elif hasattr(value, "__dlpack__"):
+        return core.from_dlpack(
+            value,
+            required_alignment=core.__dlpack_auto_import_required_alignment__,
+        )
     elif isinstance(value, Exception):
         return core._convert_to_ffi_error(value)
     else:
diff --git a/python/tvm/ffi/cython/function.pxi b/python/tvm/ffi/cython/function.pxi
index be80023c85b4..294a1246b27b 100644
--- a/python/tvm/ffi/cython/function.pxi
+++ b/python/tvm/ffi/cython/function.pxi
@@ -17,6 +17,11 @@
 import ctypes
 from numbers import Real, Integral
 
+try:
+    import torch
+except ImportError:
+    torch = None
+
 
 cdef inline object make_ret(TVMFFIAny result):
     """convert result to return value."""
@@ -71,6 +76,17 @@ cdef inline int make_args(tuple py_args, TVMFFIAny* out, list temp_args) except
         elif isinstance(arg, Object):
             out[i].type_index = TVMFFIObjectGetTypeIndex((<Object>arg).chandle)
             out[i].v_ptr = (<Object>arg).chandle
+        elif torch is not None and isinstance(arg, torch.Tensor):
+            arg = from_dlpack(torch.utils.dlpack.to_dlpack(arg),
+                              required_alignment=__dlpack_auto_import_required_alignment__)
+            out[i].type_index = kTVMFFINDArray
+            out[i].v_ptr = (<NDArray>arg).chandle
+            temp_args.append(arg)
+        elif hasattr(arg, "__dlpack__"):
+            arg = from_dlpack(arg, required_alignment=__dlpack_auto_import_required_alignment__)
+            out[i].type_index = kTVMFFINDArray
+            out[i].v_ptr = (<NDArray>arg).chandle
+            temp_args.append(arg)
         elif isinstance(arg, PyNativeObject):
             arg = arg.__tvm_ffi_object__
             out[i].type_index = TVMFFIObjectGetTypeIndex((<Object>arg).chandle)
diff --git a/python/tvm/ffi/cython/ndarray.pxi b/python/tvm/ffi/cython/ndarray.pxi
index cadf3de4fd6e..b8534b41b38b 100644
--- a/python/tvm/ffi/cython/ndarray.pxi
+++ b/python/tvm/ffi/cython/ndarray.pxi
@@ -16,8 +16,10 @@
 # under the License.
 
 __dlpack_version__ = (1, 1)
+__dlpack_auto_import_required_alignment__ = 8
 _CLASS_NDARRAY = None
 
+
 def _set_class_ndarray(cls):
     global _CLASS_NDARRAY
     _CLASS_NDARRAY = cls
diff --git a/tests/python/ffi/test_ndarray.py b/tests/python/ffi/test_ndarray.py
index a5a6f5b07438..5b75171b55bb 100644
--- a/tests/python/ffi/test_ndarray.py
+++ b/tests/python/ffi/test_ndarray.py
@@ -14,6 +14,12 @@
 # KIND, either express or implied.  See the License for the
 # specific language governing permissions and limitations
 # under the License.
+import pytest
+
+try:
+    import torch
+except ImportError:
+    torch = None
 
 from tvm import ffi as tvm_ffi
 import numpy as np
@@ -47,3 +53,24 @@ def test_shape_object():
     shape3 = tvm_ffi.convert(shape)
     assert shape3.__tvm_ffi_object__.same_as(shape.__tvm_ffi_object__)
     assert isinstance(shape3, tvm_ffi.Shape)
+
+
+@pytest.mark.skipif(torch is None, reason="Torch is not installed")
+def test_ndarray_auto_dlpack():
+    def check(x, y):
+        assert isinstance(y, tvm_ffi.NDArray)
+        assert y.shape == (128,)
+        assert y.dtype == tvm_ffi.dtype("int64")
+        assert y.device.device_type == tvm_ffi.Device.kDLCPU
+        assert y.device.device_id == 0
+        x2 = torch.from_dlpack(y)
+        np.testing.assert_equal(x2.numpy(), x.numpy())
+
+    x = torch.arange(128)
+    fecho = tvm_ffi.get_global_func("testing.echo")
+    y = fecho(x)
+    check(x, y)
+
+    # pass in list of tensors
+    y = fecho([x])
+    check(x, y[0])