A parallel.Future instance has StartDateTime and FinishDateTime properties - you can subtract these to get an idea of the execution time. (I wouldn't count on this being terribly precise - it depends what you want the information for). For example
parpool('local', 1);
f = parfeval(@pause, 0, pi);
wait(f);
dur = f.FinishDateTime - f.StartDateTime
durSeconds = seconds(dur)