The task of checking if a computer system satisfies its timing specifications is extremely important. These systems are often used in critical applications where failure to meet a deadline can have serious or even fatal consequences. This paper presents an efficient method for performing this verification task. In the proposed method a real-time system is modeled by a state-transition graph represented by binary decision diagrams. Efficient symbolic algorithms exhaustively explore the state space to determine whether the system satisfies a given specification. In addition, our approach computes quantitative timing information such as minimum and maximum time delays between given events.