diff --git a/docs/modelserving/observability/prometheus_metrics.md b/docs/modelserving/observability/prometheus_metrics.md
new file mode 100644
index 000000000..41032a0c7
--- /dev/null
+++ b/docs/modelserving/observability/prometheus_metrics.md
@@ -0,0 +1,62 @@
+# Prometheus Metrics 
+
+## Exposing Prometheus Port
+
+All supported serving runtimes support exporting prometheus metrics on a specified port in the inference service's pod. The appropriate port for the model server is defined in the [kserve/config/runtimes](https://github.com/kserve/kserve/tree/master/config/runtimes) YAML files. For example, torchserve defines its prometheus port as `8082` in `kserve-torchserve.yaml`. 
+
+```yaml
+metadata:
+  name: kserve-torchserve
+spec:
+  annotations:
+    prometheus.kserve.io/port: '8082'
+    prometheus.kserve.io/path: "/metrics"
+```
+
+If needed, this value can be overridden in the InfrenceService YAML. 
+
+To enable prometheus metrics, add the annotation `serving.kserve.io/enable-prometheus-scraping` to the InferenceService YAML. 
+
+```yaml
+apiVersion: "serving.kserve.io/v1beta1"
+kind: "InferenceService"
+metadata:
+  name: "sklearn-irisv2"
+  annotations:
+    serving.kserve.io/enable-prometheus-scraping: "true"
+spec:
+  predictor:
+    sklearn:
+      protocolVersion: v2
+      storageUri: "gs://seldon-models/sklearn/iris"
+```
+
+There is not currently a unified set of metrics exported by the model servers. Each model server may implement its own set of metrics to export. 
+
+## Metrics for lgbserver, paddleserver, pmmlserver, sklearnserver, xgbserver, custom transformer/predictor
+
+Prometheus latency histograms are emitted for each of the steps (pre/postprocessing, explain, predict).
+Additionally, the latencies of each step are logged per request.
+
+| Metric Name                       | Description                    | Type      |
+|-----------------------------------|--------------------------------|-----------| 
+| request_preprocess_seconds        | pre-processing request latency | Histogram | 
+| request_explain_seconds | explain request latency        | Histogram | 
+| request_predict_seconds | prediction request latency     | Histogram |
+| request_postprocess_seconds    | pre-processing request latency | Histogram | 
+
+## Other metrics
+
+Some model servers define their own metrics. 
+
+* [mlserver](https://docs.seldon.io/projects/seldon-core/en/latest/analytics/analytics.html)
+* [torchserve](https://pytorch.org/serve/metrics_api.html)
+* [triton](https://github.com/triton-inference-server/server/blob/main/docs/user_guide/metrics.md)
+* [tensorflow](https://github.com/tensorflow/tensorflow/blob/master/tensorflow/core/framework/metrics.cc) (Please see [Github Issue #2462](https://github.com/kserve/kserve/issues/2462))
+
+
+## Exporting Metrics
+
+Exporting metrics in serverles mode requires that the queue-proxy extension image is used. 
+
+For more information on how to export metrics, see [Queue Proxy Extension](https://github.com/kserve/kserve/blob/master/qpext/README.md) documentation.
diff --git a/mkdocs.yml b/mkdocs.yml
index 4614a8bda..00f550e00 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -79,6 +79,8 @@ nav:
           - Rollout Strategies:
                 - Canary:  modelserving/v1beta1/rollout/canary.md
                 - Canary Example: modelserving/v1beta1/rollout/canary-example.md
+          - Inference Observability:
+                - Prometheus Metrics:  modelserving/observability/prometheus_metrics.md
     - API Reference:
           - Control Plane API: reference/api.md
           - Python Client SDK: sdk_docs/sdk_doc.md