diff --git a/Dockerfile.win10.min b/Dockerfile.win10.min
index dfb6930b15..97dd4c24c3 100644
--- a/Dockerfile.win10.min
+++ b/Dockerfile.win10.min
@@ -115,6 +115,7 @@ ARG CUDA_PACKAGES="nvcc_${CUDA_MAJOR}.${CUDA_MINOR} \
                    curand_${CUDA_MAJOR}.${CUDA_MINOR} curand_dev_${CUDA_MAJOR}.${CUDA_MINOR} \
                    cusolver_${CUDA_MAJOR}.${CUDA_MINOR} cusolver_dev_${CUDA_MAJOR}.${CUDA_MINOR} \
                    cusparse_${CUDA_MAJOR}.${CUDA_MINOR} cusparse_dev_${CUDA_MAJOR}.${CUDA_MINOR} \
+                   cupti_${CUDA_MAJOR}.${CUDA_MINOR} \
                    thrust_${CUDA_MAJOR}.${CUDA_MINOR} \
                    visual_studio_integration_${CUDA_MAJOR}.${CUDA_MINOR}"
 ARG CUDA_INSTALL_ROOT_WP="C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v${CUDA_MAJOR}.${CUDA_MINOR}"
diff --git a/build.py b/build.py
index a6bb111520..4b6e83fcb4 100755
--- a/build.py
+++ b/build.py
@@ -598,6 +598,18 @@ def backend_cmake_args(images, components, be, install_dir, library_paths):
     cargs.append(
         cmake_backend_enable(be, 'TRITON_ENABLE_METRICS', FLAGS.enable_metrics))
 
+    # [DLIS-4950] always enable below once Windows image is updated with CUPTI
+    # cargs.append(cmake_backend_enable(be, 'TRITON_ENABLE_MEMORY_TRACKER', True))
+    if (target_platform() == 'windows') and (not FLAGS.no_container_build):
+        print(
+            "Warning: Detected docker build is used for Windows, backend utility 'device memory tracker' will be disabled due to missing library in CUDA Windows docker image."
+        )
+        cargs.append(
+            cmake_backend_enable(be, 'TRITON_ENABLE_MEMORY_TRACKER', False))
+    elif FLAGS.enable_gpu:
+        cargs.append(
+            cmake_backend_enable(be, 'TRITON_ENABLE_MEMORY_TRACKER', True))
+
     cargs += cmake_backend_extra_args(be)
     cargs.append('..')
     return cargs
diff --git a/docs/protocol/extension_statistics.md b/docs/protocol/extension_statistics.md
index 6e11f3623e..6e82e971ba 100644
--- a/docs/protocol/extension_statistics.md
+++ b/docs/protocol/extension_statistics.md
@@ -78,7 +78,8 @@ $model_stat =
   "inference_count" : $number,
   "execution_count" : $number,
   "inference_stats" : $inference_stats,
-  "batch_stats" : [ $batch_stat, ... ]
+  "batch_stats" : [ $batch_stat, ... ],
+  "memory_usage" : [ $memory_usage, ...]
 }
 ```
 
@@ -119,6 +120,14 @@ $model_stat =
   due to different batch size (for example, larger batches typically
   take longer to compute).
 
+- "memory_usage" : The memory usage detected during model loading, which may be
+  used to estimate the memory to be released once the model is unloaded. Note
+  that the estimation is inferenced by the profiling tools and framework's
+  memory schema, therefore it is advised to perform experiments to understand
+  the scenario that the reported memory usage can be relied on. As a starting
+  point, the GPU memory usage for models in ONNX Runtime backend and TensorRT
+  backend is usually aligned.
+
 ```
 $inference_stats =
 {
@@ -217,6 +226,22 @@ $duration_stat =
 
 - “ns” : The total duration for the statistic in nanoseconds.
 
+```
+$memory_usage = 
+{
+  "type" : $string,
+  "id" : $number,
+  "byte_size" : $number
+}
+```
+
+- "type" : The type of memory, the value can be "CPU", "CPU_PINNED", "GPU".
+
+- "id" : The id of the memory, typically used with "type" to identify
+  a device that hosts the memory.
+
+- "byte_size" : The byte size of the memory.
+
 ### Statistics Response JSON Error Object
 
 A failed statistics request will be indicated by an HTTP error status
@@ -325,7 +350,16 @@ message ModelStatistics
   // executed in the model. The batch statistics indicate how many actual
   // model executions were performed and show differences due to different
   // batch size (for example, larger batches typically take longer to compute).
-  InferBatchStatistics batch_stats = 7;
+  repeated InferBatchStatistics batch_stats = 7;
+
+  // The memory usage detected during model loading, which may be
+  // used to estimate the memory to be released once the model is unloaded. Note
+  // that the estimation is inferenced by the profiling tools and framework's
+  // memory schema, therefore it is advised to perform experiments to understand
+  // the scenario that the reported memory usage can be relied on. As a starting
+  // point, the GPU memory usage for models in ONNX Runtime backend and TensorRT
+  // backend is usually aligned.
+  repeated MemoryUsage memory_usage = 8;
 }
 
 // Inference statistics.
@@ -416,4 +450,18 @@ message InferBatchStatistics
   // tensor data from the GPU.
   StatisticDuration compute_output = 4;
 }
+
+// Memory usage.
+message MemoryUsage 
+{
+  // The type of memory, the value can be "CPU", "CPU_PINNED", "GPU".
+  string type = 1;
+
+  // The id of the memory, typically used with "type" to identify
+  // a device that hosts the memory.
+  int64_t id = 2;
+
+  // The byte size of the memory.
+  uint64_t byte_size = 3;
+}
 ```
diff --git a/qa/L0_device_memory_tracker/test.py b/qa/L0_device_memory_tracker/test.py
new file mode 100644
index 0000000000..0265f043d5
--- /dev/null
+++ b/qa/L0_device_memory_tracker/test.py
@@ -0,0 +1,111 @@
+#!/usr/bin/env python
+# Copyright 2023, NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in the
+#    documentation and/or other materials provided with the distribution.
+#  * Neither the name of NVIDIA CORPORATION nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
+# EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+# PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+# CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+# EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+# PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+# PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+# OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+import unittest
+import time
+from functools import partial
+
+import tritonclient.http as httpclient
+import tritonclient.grpc as grpcclient
+
+import nvidia_smi
+
+
+class UnifiedClientProxy:
+
+    def __init__(self, client):
+        self.client_ = client
+
+    def __getattr__(self, attr):
+        forward_attr = getattr(self.client_, attr)
+        if type(self.client_) == grpcclient.InferenceServerClient:
+            if attr == "get_model_config":
+                return lambda *args, **kwargs: forward_attr(
+                    *args, **kwargs, as_json=True)["config"]
+            elif attr == "get_inference_statistics":
+                return partial(forward_attr, as_json=True)
+        return forward_attr
+
+
+class MemoryUsageTest(unittest.TestCase):
+
+    def setUp(self):
+        nvidia_smi.nvmlInit()
+        self.gpu_handle_ = nvidia_smi.nvmlDeviceGetHandleByIndex(0)
+        self.http_client_ = httpclient.InferenceServerClient(
+            url="localhost:8000")
+        self.grpc_client_ = grpcclient.InferenceServerClient(
+            url="localhost:8001")
+
+    def tearDown(self):
+        nvidia_smi.nvmlShutdown()
+
+    def report_used_gpu_memory(self):
+        info = nvidia_smi.nvmlDeviceGetMemoryInfo(self.gpu_handle_)
+        return info.used
+
+    def is_testing_backend(self, model_name, backend_name):
+        return self.client_.get_model_config(
+            model_name)["backend"] == backend_name
+
+    def verify_recorded_usage(self, model_stat):
+        recorded_gpu_usage = 0
+        for usage in model_stat["memory_usage"]:
+            if usage["type"] == "GPU":
+                recorded_gpu_usage += int(usage["byte_size"])
+        # unload and verify recorded usage
+        before_total_usage = self.report_used_gpu_memory()
+        self.client_.unload_model(model_stat["name"])
+        # unload can return before the model is fully unloaded,
+        # wait to be finished
+        time.sleep(2)
+        usage_delta = before_total_usage - self.report_used_gpu_memory()
+        # check with tolerance as gpu usage obtained is overall usage
+        self.assertTrue(
+            usage_delta * 0.9 <= recorded_gpu_usage <= usage_delta * 1.1,
+            msg=
+            "For model {}, expect recorded usage to be in range [{}, {}], got {}"
+            .format(model_stat["name"], usage_delta * 0.9, usage_delta * 1.1,
+                    recorded_gpu_usage))
+
+    def test_onnx_http(self):
+        self.client_ = UnifiedClientProxy(self.http_client_)
+        model_stats = self.client_.get_inference_statistics()["model_stats"]
+        for model_stat in model_stats:
+            if self.is_testing_backend(model_stat["name"], "onnxruntime"):
+                self.verify_recorded_usage(model_stat)
+
+    def test_plan_grpc(self):
+        self.client_ = UnifiedClientProxy(self.grpc_client_)
+        model_stats = self.client_.get_inference_statistics()["model_stats"]
+        for model_stat in model_stats:
+            if self.is_testing_backend(model_stat["name"], "tensorrt"):
+                self.verify_recorded_usage(model_stat)
+
+
+if __name__ == "__main__":
+    unittest.main()
diff --git a/qa/L0_device_memory_tracker/test.sh b/qa/L0_device_memory_tracker/test.sh
new file mode 100644
index 0000000000..7eb0d745da
--- /dev/null
+++ b/qa/L0_device_memory_tracker/test.sh
@@ -0,0 +1,128 @@
+#!/bin/bash
+# Copyright 2023, NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in the
+#    documentation and/or other materials provided with the distribution.
+#  * Neither the name of NVIDIA CORPORATION nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
+# EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+# PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+# CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+# EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+# PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+# PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+# OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+REPO_VERSION=${NVIDIA_TRITON_SERVER_VERSION}
+if [ "$#" -ge 1 ]; then
+    REPO_VERSION=$1
+fi
+if [ -z "$REPO_VERSION" ]; then
+    echo -e "Repository version must be specified"
+    echo -e "\n***\n*** Test Failed\n***"
+    exit 1
+fi
+if [ ! -z "$TEST_REPO_ARCH" ]; then
+    REPO_VERSION=${REPO_VERSION}_${TEST_REPO_ARCH}
+fi
+
+export CUDA_VISIBLE_DEVICES=0
+
+TEST_LOG="./test.log"
+TEST_PY=test.py
+
+DATADIR=/data/inferenceserver/${REPO_VERSION}
+rm -f *.log
+
+TEST_RESULT_FILE='test_results.txt'
+SERVER=/opt/tritonserver/bin/tritonserver
+SERVER_LOG="./server.log"
+
+source ../common/util.sh
+
+RET=0
+
+# prepare model repository, only contains ONNX and TRT models as the
+# corresponding backend are known to be memory.
+rm -rf models && mkdir models
+# ONNX
+cp -r /data/inferenceserver/${REPO_VERSION}/onnx_model_store/* models/.
+rm -r models/*cpu
+
+# Convert to get TRT models against the system
+CAFFE2PLAN=../common/caffe2plan
+set +e
+mkdir -p models/vgg19_plan/1 && rm -f models/vgg19_plan/1/model.plan && \
+    $CAFFE2PLAN -b32 -n prob -o models/vgg19_plan/1/model.plan \
+                $DATADIR/caffe_models/vgg19.prototxt $DATADIR/caffe_models/vgg19.caffemodel
+if [ $? -ne 0 ]; then
+    echo -e "\n***\n*** Failed to generate vgg19 PLAN\n***"
+    exit 1
+fi
+
+mkdir -p models/resnet50_plan/1 && rm -f models/resnet50_plan/1/model.plan && \
+    $CAFFE2PLAN -b32 -n prob -o models/resnet50_plan/1/model.plan \
+                $DATADIR/caffe_models/resnet50.prototxt $DATADIR/caffe_models/resnet50.caffemodel
+if [ $? -ne 0 ]; then
+    echo -e "\n***\n*** Failed to generate resnet50 PLAN\n***"
+    exit 1
+fi
+
+mkdir -p models/resnet152_plan/1 && rm -f models/resnet152_plan/1/model.plan && \
+    $CAFFE2PLAN -h -b32 -n prob -o models/resnet152_plan/1/model.plan \
+                $DATADIR/caffe_models/resnet152.prototxt $DATADIR/caffe_models/resnet152.caffemodel
+if [ $? -ne 0 ]; then
+    echo -e "\n***\n*** Failed to generate resnet152 PLAN\n***"
+    exit 1
+fi
+set -e
+
+# Set multiple instances on selected model to test instance-wise collection
+# and accumulation.
+echo "instance_group [{ count: 2; kind: KIND_GPU }]" >> models/resnet152_plan/config.pbtxt
+echo "instance_group [{ count: 2; kind: KIND_GPU }]" >> models/densenet/config.pbtxt
+
+# testing use nvidia-smi for Python to validate the reported usage
+pip install nvidia-ml-py3
+
+# Start server to load all models (in parallel), then gradually unload
+# the models and expect the memory usage changes matches what are reported
+# in statistic.
+SERVER_ARGS="--backend-config=triton-backend-memory-tracker=true --model-repository=models --model-control-mode=explicit --load-model=*"
+run_server
+if [ "$SERVER_PID" == "0" ]; then
+    echo -e "\n***\n*** Failed to start $SERVER\n***"
+    cat $SERVER_LOG
+    exit 1
+fi
+
+set +e
+python $TEST_PY > $TEST_LOG 2>&1
+if [ $? -ne 0 ]; then
+    RET=1
+fi
+set -e
+kill $SERVER_PID
+wait $SERVER_PID
+
+if [ $RET -eq 0 ]; then
+    echo -e "\n***\n*** Test Passed\n***"
+else
+    cat $SERVER_LOG
+    cat $TEST_LOG
+    echo -e "\n***\n*** Test FAILED\n***"
+fi
+
+exit $RET
diff --git a/src/grpc/grpc_server.cc b/src/grpc/grpc_server.cc
index 9795e147f4..d6bb1e6189 100644
--- a/src/grpc/grpc_server.cc
+++ b/src/grpc/grpc_server.cc
@@ -1183,6 +1183,37 @@ CommonHandler::RegisterModelStatistics()
             batch_statistics->mutable_compute_output()->set_ns(ucnt);
           }
         }
+
+        triton::common::TritonJson::Value memory_usage_json;
+        err = model_stat.MemberAsArray("memory_usage", &memory_usage_json);
+        GOTO_IF_ERR(err, earlyexit);
+
+        for (size_t idx = 0; idx < memory_usage_json.ArraySize(); ++idx) {
+          triton::common::TritonJson::Value usage;
+          err = memory_usage_json.IndexAsObject(idx, &usage);
+          GOTO_IF_ERR(err, earlyexit);
+
+          auto memory_usage = statistics->add_memory_usage();
+          {
+            const char* type;
+            size_t type_len;
+            err = usage.MemberAsString("type", &type, &type_len);
+            GOTO_IF_ERR(err, earlyexit);
+            memory_usage->set_type(std::string(type, type_len));
+          }
+          {
+            int64_t id;
+            err = usage.MemberAsInt("id", &id);
+            GOTO_IF_ERR(err, earlyexit);
+            memory_usage->set_id(id);
+          }
+          {
+            uint64_t byte_size;
+            err = usage.MemberAsUInt("byte_size", &byte_size);
+            GOTO_IF_ERR(err, earlyexit);
+            memory_usage->set_byte_size(byte_size);
+          }
+        }
       }
     }