diff --git a/libraries/AP_Parachute/AP_Parachute.cpp b/libraries/AP_Parachute/AP_Parachute.cpp
index 7226f5ee51..598d5bf55b 100644
--- a/libraries/AP_Parachute/AP_Parachute.cpp
+++ b/libraries/AP_Parachute/AP_Parachute.cpp
@@ -52,6 +52,15 @@ const AP_Param::GroupInfo AP_Parachute::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("ALT_MIN", 4, AP_Parachute, _alt_min, AP_PARACHUTE_ALT_MIN_DEFAULT),
 
+    // @Param: DELAY_MS
+    // @DisplayName: Parachute release delay
+    // @Description: Delay in millseconds between motor stop and chute release
+    // @Range: 0 5000
+    // @Units: Milliseconds
+    // @Increment: 1
+    // @User: Standard
+    AP_GROUPINFO("DELAY_MS", 5, AP_Parachute, _delay_ms, AP_PARACHUTE_RELEASE_DELAY_MS),
+    
     AP_GROUPEND
 };
 
@@ -91,10 +100,11 @@ void AP_Parachute::update()
 
     // calc time since release
     uint32_t time_diff = AP_HAL::millis() - _release_time;
-
+    uint32_t delay_ms = _delay_ms<=0 ? 0: (uint32_t)_delay_ms;
+    
     // check if we should release parachute
     if ((_release_time != 0) && !_release_in_progress) {
-        if (time_diff >= AP_PARACHUTE_RELEASE_DELAY_MS) {
+        if (time_diff >= delay_ms) {
             if (_release_type == AP_PARACHUTE_TRIGGER_TYPE_SERVO) {
                 // move servo
                 RC_Channel_aux::set_radio(RC_Channel_aux::k_parachute_release, _servo_on_pwm);
@@ -105,7 +115,7 @@ void AP_Parachute::update()
             _release_in_progress = true;
             _released = true;
         }
-    }else if ((_release_time == 0) || time_diff >= AP_PARACHUTE_RELEASE_DELAY_MS + AP_PARACHUTE_RELEASE_DURATION_MS) {
+    }else if ((_release_time == 0) || time_diff >= delay_ms + AP_PARACHUTE_RELEASE_DURATION_MS) {
         if (_release_type == AP_PARACHUTE_TRIGGER_TYPE_SERVO) {
             // move servo back to off position
             RC_Channel_aux::set_radio(RC_Channel_aux::k_parachute_release, _servo_off_pwm);
diff --git a/libraries/AP_Parachute/AP_Parachute.h b/libraries/AP_Parachute/AP_Parachute.h
index ff569ae420..25a3c8dfaa 100644
--- a/libraries/AP_Parachute/AP_Parachute.h
+++ b/libraries/AP_Parachute/AP_Parachute.h
@@ -66,6 +66,7 @@ private:
     AP_Int16    _servo_on_pwm;  // PWM value to move servo to when shutter is activated
     AP_Int16    _servo_off_pwm; // PWM value to move servo to when shutter is deactivated
     AP_Int16    _alt_min;       // min altitude the vehicle should have before parachute is released
+    AP_Int16    _delay_ms;      // delay before chute release for motors to stop
 
     // internal variables
     AP_Relay   &_relay;         // pointer to relay object from the base class Relay.