diff --git a/spring-context/src/main/java/org/springframework/scheduling/concurrent/ThreadPoolTaskScheduler.java b/spring-context/src/main/java/org/springframework/scheduling/concurrent/ThreadPoolTaskScheduler.java
index ad06bf052a69..6552bc63d3fb 100644
--- a/spring-context/src/main/java/org/springframework/scheduling/concurrent/ThreadPoolTaskScheduler.java
+++ b/spring-context/src/main/java/org/springframework/scheduling/concurrent/ThreadPoolTaskScheduler.java
@@ -63,6 +63,7 @@
  * @author Mark Fisher
  * @since 3.0
  * @see #setPoolSize
+ * @see #setTaskStartupOverrunThreshold
  * @see #setRemoveOnCancelPolicy
  * @see #setContinueExistingPeriodicTasksAfterShutdownPolicy
  * @see #setExecuteExistingDelayedTasksAfterShutdownPolicy
@@ -92,6 +93,8 @@ public class ThreadPoolTaskScheduler extends ExecutorConfigurationSupport
 
 	private Clock clock = Clock.systemDefaultZone();
 
+	private volatile @Nullable Duration taskStartupOverrunThreshold;
+
 	private @Nullable ScheduledExecutorService scheduledExecutor;
 
 
@@ -427,6 +430,38 @@ public ScheduledFuture<?> scheduleWithFixedDelay(Runnable task, Duration delay)
 	}
 
 
+	/**
+	 * Check whether the given task is being executed significantly later than
+	 * its scheduled time and, if a {@link #setTaskStartupOverrunThreshold threshold}
+	 * is set, emit a {@code WARN}-level log message.
+	 *
+	 * <p>This hook is called by the underlying {@link ScheduledThreadPoolExecutor}
+	 * immediately before each task is handed to a thread for execution.
+	 *
+	 * @param thread the thread that will run task {@code task}
+	 * @param task the task that is about to be executed
+	 * @since 7.0
+	 * @see #setTaskStartupOverrunThreshold(Duration)
+	 */
+	@Override
+	protected void beforeExecute(Thread thread, Runnable task) {
+		Duration threshold = this.taskStartupOverrunThreshold;
+		if (threshold != null && task instanceof RunnableScheduledFuture<?> scheduledTask) {
+			long delayNanos = scheduledTask.getDelay(TimeUnit.NANOSECONDS);
+			if (delayNanos < 0) {
+				Duration overrun = Duration.ofNanos(-delayNanos);
+				if (overrun.compareTo(threshold) >= 0) {
+					if (logger.isWarnEnabled()) {
+						logger.warn("Task [" + task + "] is starting " + overrun.toMillis() +
+								"ms late (threshold: " + threshold.toMillis() + "ms). " +
+								"Consider increasing the thread pool size or reducing task duration.");
+					}
+				}
+			}
+		}
+		super.beforeExecute(thread, task);
+	}
+
 	private <V> RunnableScheduledFuture<V> decorateTaskIfNecessary(RunnableScheduledFuture<V> future) {
 		return (this.taskDecorator != null ? new DelegatingRunnableScheduledFuture<>(future, this.taskDecorator) :
 				future);
diff --git a/spring-context/src/test/java/org/springframework/scheduling/concurrent/ThreadPoolTaskSchedulerOverrunTests.java b/spring-context/src/test/java/org/springframework/scheduling/concurrent/ThreadPoolTaskSchedulerOverrunTests.java
new file mode 100644
index 000000000000..5a6070bbe8f7
--- /dev/null
+++ b/spring-context/src/test/java/org/springframework/scheduling/concurrent/ThreadPoolTaskSchedulerOverrunTests.java
@@ -0,0 +1,135 @@
+/*
+ * Copyright 2002-present the original author or authors.
+ *
+ * Licensed 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
+ *
+ *      https://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.
+ */
+
+package org.springframework.scheduling.concurrent;
+
+import java.time.Duration;
+import java.time.Instant;
+import java.util.concurrent.CountDownLatch;
+import java.util.concurrent.TimeUnit;
+
+import org.junit.jupiter.api.AfterEach;
+import org.junit.jupiter.api.Test;
+
+import static org.assertj.core.api.Assertions.assertThat;
+
+/**
+ * Tests for the task startup overrun warning in {@link ThreadPoolTaskScheduler}.
+ *
+ * @author Naman Agrawal
+ * @since 7.0
+ * @see ThreadPoolTaskScheduler#setTaskStartupOverrunThreshold(Duration)
+ */
+class ThreadPoolTaskSchedulerOverrunTests {
+
+	private final ThreadPoolTaskScheduler scheduler = new ThreadPoolTaskScheduler();
+
+	@AfterEach
+	void tearDown() {
+		scheduler.destroy();
+	}
+
+	@Test
+	void defaultThresholdIsNull() {
+		assertThat(scheduler.getTaskStartupOverrunThreshold()).isNull();
+	}
+
+	@Test
+	void thresholdIsStoredCorrectly() {
+		Duration threshold = Duration.ofMillis(500);
+		scheduler.setTaskStartupOverrunThreshold(threshold);
+		assertThat(scheduler.getTaskStartupOverrunThreshold()).isEqualTo(threshold);
+	}
+
+	@Test
+	void thresholdCanBeReset() {
+		scheduler.setTaskStartupOverrunThreshold(Duration.ofSeconds(1));
+		scheduler.setTaskStartupOverrunThreshold(null);
+		assertThat(scheduler.getTaskStartupOverrunThreshold()).isNull();
+	}
+
+	@Test
+	void taskExecutesNormallyWithThresholdSet() throws InterruptedException {
+		scheduler.setTaskStartupOverrunThreshold(Duration.ofMillis(100));
+		scheduler.initialize();
+
+		CountDownLatch latch = new CountDownLatch(1);
+		scheduler.schedule(latch::countDown, Instant.now().plusMillis(50));
+
+		assertThat(latch.await(2, TimeUnit.SECONDS))
+				.as("Task should execute normally even with threshold configured")
+				.isTrue();
+	}
+
+	@Test
+	void taskExecutesNormallyWithoutThreshold() throws InterruptedException {
+		scheduler.initialize();
+
+		CountDownLatch latch = new CountDownLatch(1);
+		scheduler.schedule(latch::countDown, Instant.now().plusMillis(50));
+
+		assertThat(latch.await(2, TimeUnit.SECONDS))
+				.as("Task should execute normally without threshold configured")
+				.isTrue();
+	}
+
+	@Test
+	void overrunIsDetectedWhenTaskStartsLate() throws InterruptedException {
+		// Pool size 1 so the first long task blocks the second task from starting on time
+		scheduler.setPoolSize(1);
+		scheduler.setTaskStartupOverrunThreshold(Duration.ofMillis(100));
+		scheduler.initialize();
+
+		CountDownLatch blocker = new CountDownLatch(1);
+		CountDownLatch blocked = new CountDownLatch(1);
+
+		// Schedule a task immediately that holds the single thread for 500 ms
+		scheduler.schedule(() -> {
+			try {
+				Thread.sleep(500);
+			}
+			catch (InterruptedException e) {
+				Thread.currentThread().interrupt();
+			}
+			finally {
+				blocker.countDown();
+			}
+		}, Instant.now());
+
+		// Schedule a second task 50 ms from now - it will be at least 450 ms late
+		scheduler.schedule(blocked::countDown, Instant.now().plusMillis(50));
+
+		// Both should still complete despite the overrun
+		assertThat(blocker.await(3, TimeUnit.SECONDS)).isTrue();
+		assertThat(blocked.await(3, TimeUnit.SECONDS)).isTrue();
+	}
+
+	@Test
+	void noOverrunWhenTaskStartsOnTime() throws InterruptedException {
+		scheduler.setPoolSize(2);  // enough threads so nothing is starved
+		scheduler.setTaskStartupOverrunThreshold(Duration.ofMillis(100));
+		scheduler.initialize();
+
+		CountDownLatch latch = new CountDownLatch(2);
+
+		// Both tasks should start on time with 2 threads
+		scheduler.schedule(latch::countDown, Instant.now().plusMillis(50));
+		scheduler.schedule(latch::countDown, Instant.now().plusMillis(50));
+
+		assertThat(latch.await(2, TimeUnit.SECONDS)).isTrue();
+	}
+
+}