diff --git a/moveit_core/trajectory_processing/include/moveit/trajectory_processing/time_optimal_trajectory_generation.hpp b/moveit_core/trajectory_processing/include/moveit/trajectory_processing/time_optimal_trajectory_generation.hpp
index 0622b2dd55..6b1e2b39a5 100644
--- a/moveit_core/trajectory_processing/include/moveit/trajectory_processing/time_optimal_trajectory_generation.hpp
+++ b/moveit_core/trajectory_processing/include/moveit/trajectory_processing/time_optimal_trajectory_generation.hpp
@@ -39,6 +39,7 @@
 #pragma once
 
 #include <Eigen/Core>
+#include <atomic>
 #include <list>
 #include <moveit/robot_trajectory/robot_trajectory.hpp>
 #include <moveit/trajectory_processing/time_parameterization.hpp>
@@ -118,7 +119,8 @@ class Path
 
   double length_ = 0.0;
   std::list<std::pair<double, bool>> switching_points_;
-  std::list<std::unique_ptr<PathSegment>> path_segments_;
+  std::vector<std::unique_ptr<PathSegment>> path_segments_;
+  mutable std::atomic<std::size_t> cached_segment_{ 0 };
 };
 
 class Trajectory
diff --git a/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp b/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp
index 192a1c395d..99cadfdc43 100644
--- a/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp
+++ b/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp
@@ -304,16 +304,14 @@ double Path::getLength() const
 
 PathSegment* Path::getPathSegment(double& s) const
 {
-  std::list<std::unique_ptr<PathSegment>>::const_iterator it = path_segments_.begin();
-  std::list<std::unique_ptr<PathSegment>>::const_iterator next = it;
-  ++next;
-  while (next != path_segments_.end() && s >= (*next)->position_)
-  {
-    it = next;
-    ++next;
-  }
-  s -= (*it)->position_;
-  return (*it).get();
+  std::size_t segment = cached_segment_.load(std::memory_order_relaxed);
+  if (path_segments_[segment]->position_ > s)
+    segment = 0;
+  while (segment + 1 < path_segments_.size() && s >= path_segments_[segment + 1]->position_)
+    ++segment;
+  cached_segment_.store(segment, std::memory_order_relaxed);
+  s -= path_segments_[segment]->position_;
+  return path_segments_[segment].get();
 }
 
 Eigen::VectorXd Path::getConfig(double s) const
diff --git a/moveit_core/trajectory_processing/test/test_time_optimal_trajectory_generation.cpp b/moveit_core/trajectory_processing/test/test_time_optimal_trajectory_generation.cpp
index 9c0ae63ddd..969b2dd4af 100644
--- a/moveit_core/trajectory_processing/test/test_time_optimal_trajectory_generation.cpp
+++ b/moveit_core/trajectory_processing/test/test_time_optimal_trajectory_generation.cpp
@@ -40,6 +40,10 @@
 #include <moveit/trajectory_processing/time_optimal_trajectory_generation.hpp>
 #include <moveit/utils/robot_model_test_utils.hpp>
 
+#include <atomic>
+#include <cmath>
+#include <thread>
+
 using trajectory_processing::Path;
 using trajectory_processing::TimeOptimalTrajectoryGeneration;
 using trajectory_processing::Trajectory;
@@ -65,8 +69,79 @@ void setAccelerationLimits(const moveit::core::RobotModelPtr& robot_model)
     joint_model->setVariableBounds(joint_bounds_msg);
   }
 }
+
+Path createSegmentedPath()
+{
+  return *Path::create({ Eigen::Vector2d(0.0, 0.0), Eigen::Vector2d(1.0, 0.0), Eigen::Vector2d(1.0, 1.0),
+                         Eigen::Vector2d(2.0, 1.0) },
+                       0.1);
+}
+
+void expectQueriesMatchUncachedCopies(Path& cached_path, const std::vector<double>& queries)
+{
+  for (const double query : queries)
+  {
+    SCOPED_TRACE(query);
+    const Path uncached_path(cached_path);
+    EXPECT_TRUE(cached_path.getConfig(query).isApprox(uncached_path.getConfig(query)));
+    EXPECT_TRUE(cached_path.getTangent(query).isApprox(uncached_path.getTangent(query)));
+    EXPECT_TRUE(cached_path.getCurvature(query).isApprox(uncached_path.getCurvature(query)));
+  }
+}
 }  // namespace
 
+TEST(time_optimal_trajectory_generation, PathSegmentCacheHandlesForwardAndBackwardQueries)
+{
+  Path path = createSegmentedPath();
+  const double length = path.getLength();
+  expectQueriesMatchUncachedCopies(path, { 0.0, 0.1 * length, 0.4 * length, 0.7 * length, length });
+  expectQueriesMatchUncachedCopies(path, { 0.9 * length, 0.6 * length, 0.2 * length, 0.0 });
+}
+
+TEST(time_optimal_trajectory_generation, PathSegmentCacheHandlesSegmentBoundaries)
+{
+  Path path = createSegmentedPath();
+  for (const auto& [position, discontinuity] : path.getSwitchingPoints())
+  {
+    (void)discontinuity;
+    expectQueriesMatchUncachedCopies(path, { std::nextafter(position, 0.0), position,
+                                             std::nextafter(position, path.getLength()) });
+  }
+}
+
+TEST(time_optimal_trajectory_generation, CopiedPathDoesNotReuseSourceCache)
+{
+  Path source = createSegmentedPath();
+  source.getConfig(0.9 * source.getLength());
+  Path copy(source);
+  expectQueriesMatchUncachedCopies(copy, { 0.1 * copy.getLength() });
+}
+
+TEST(time_optimal_trajectory_generation, PathSegmentCacheSupportsConcurrentQueries)
+{
+  const Path path = createSegmentedPath();
+  std::atomic_bool matches{ true };
+  std::vector<std::thread> threads;
+  for (std::size_t thread_index = 0; thread_index < 4; ++thread_index)
+  {
+    threads.emplace_back([&path, &matches, thread_index]() {
+      Path baseline(path);
+      for (std::size_t query_index = 0; query_index < 500; ++query_index)
+      {
+        const double query =
+            static_cast<double>((query_index * 37 + thread_index * 13) % 501) / 500.0 * path.getLength();
+        if (!path.getConfig(query).isApprox(baseline.getConfig(query)) ||
+            !path.getTangent(query).isApprox(baseline.getTangent(query)) ||
+            !path.getCurvature(query).isApprox(baseline.getCurvature(query)))
+          matches = false;
+      }
+    });
+  }
+  for (std::thread& thread : threads)
+    thread.join();
+  EXPECT_TRUE(matches);
+}
+
 TEST(time_optimal_trajectory_generation, test1)
 {
   Eigen::VectorXd waypoint(4);