diff --git a/discord/gateway.py b/discord/gateway.py
index 0e90c5f63..f484c8e5f 100644
--- a/discord/gateway.py
+++ b/discord/gateway.py
@@ -25,7 +25,7 @@ DEALINGS IN THE SOFTWARE.
 """
 
 import asyncio
-from collections import namedtuple
+from collections import namedtuple, deque
 import concurrent.futures
 import json
 import logging
@@ -132,9 +132,10 @@ class KeepAliveHandler(threading.Thread):
 class VoiceKeepAliveHandler(KeepAliveHandler):
     def __init__(self, *args, **kwargs):
         super().__init__(*args, **kwargs)
+        self.recent_ack_latencies = deque(maxlen=20)
         self.msg = 'Keeping voice websocket alive with timestamp %s.'
         self.block_msg = 'Voice heartbeat blocked for more than %s seconds'
-        self.behind_msg = 'Can\'t keep up, voice websocket is %.1fs behind'
+        self.behind_msg = 'High socket latency, heartbeat is %.1fs behind'
 
     def get_payload(self):
         return {
@@ -142,6 +143,12 @@ class VoiceKeepAliveHandler(KeepAliveHandler):
             'd': int(time.time() * 1000)
         }
 
+    def ack(self):
+        ack_time = time.perf_counter()
+        self._last_ack = ack_time
+        self.latency = ack_time - self._last_send
+        self.recent_ack_latencies.append(self.latency)
+
 class DiscordWebSocket(websockets.client.WebSocketClientProtocol):
     """Implements a WebSocket for Discord's gateway v6.
 
@@ -702,7 +709,7 @@ class DiscordVoiceWebSocket(websockets.client.WebSocketClientProtocol):
             await self.load_secret_key(data)
         elif op == self.HELLO:
             interval = data['heartbeat_interval'] / 1000.0
-            self._keep_alive = VoiceKeepAliveHandler(ws=self, interval=interval)
+            self._keep_alive = VoiceKeepAliveHandler(ws=self, interval=min(interval, 5.0))
             self._keep_alive.start()
 
     async def initial_connection(self, data):
@@ -735,6 +742,19 @@ class DiscordVoiceWebSocket(websockets.client.WebSocketClientProtocol):
 
         await self.client_connect()
 
+    @property
+    def latency(self):
+        """:class:`float`: Latency between a HEARTBEAT and its HEARTBEAT_ACK in seconds."""
+        heartbeat = self._keep_alive
+        return float('inf') if heartbeat is None else heartbeat.latency
+
+    @property
+    def average_latency(self):
+        """:class:`list`: Average of last 20 HEARTBEAT latencies."""
+        heartbeat = self._keep_alive
+        average_latency = sum(heartbeat.recent_ack_latencies)/len(heartbeat.recent_ack_latencies)
+        return float('inf') if heartbeat is None else average_latency
+
     async def load_secret_key(self, data):
         log.info('received secret key for voice connection')
         self._connection.secret_key = data.get('secret_key')
diff --git a/discord/voice_client.py b/discord/voice_client.py
index 091fe2616..757f78588 100644
--- a/discord/voice_client.py
+++ b/discord/voice_client.py
@@ -57,7 +57,6 @@ try:
 except ImportError:
     has_nacl = False
 
-
 log = logging.getLogger(__name__)
 
 class VoiceClient:
@@ -207,6 +206,22 @@ class VoiceClient:
 
         self._handshake_complete.set()
 
+    @property
+    def latency(self):
+        """:class:`float`: Latency between a HEARTBEAT and a HEARTBEAT_ACK in seconds.
+
+        This could be referred to as the Discord Voice WebSocket latency and is
+        an analogue of user's voice latencies as seen in the Discord client.
+        """
+        ws = self.ws
+        return float("inf") if not ws else ws.latency
+
+    @property
+    def average_latency(self):
+        """:class:`float`: Average of most recent 20 HEARTBEAT latencies in seconds."""
+        ws = self.ws
+        return float("inf") if not ws else ws.average_latency
+
     async def connect(self, *, reconnect=True, _tries=0, do_handshake=True):
         log.info('Connecting to voice...')
         try:
@@ -342,7 +357,6 @@ class VoiceClient:
 
         return header + box.encrypt(bytes(data), bytes(nonce)).ciphertext + nonce[:4]
 
-
     def play(self, source, *, after=None):
         """Plays an :class:`AudioSource`.