diff --git a/CHANGELOG.txt b/CHANGELOG.txt
index 61c9c9fc12..04cdea205b 100644
--- a/CHANGELOG.txt
+++ b/CHANGELOG.txt
@@ -26,6 +26,7 @@ Changelog
  * Render the Wagtail User Bar on non `Page` views (Caitlin White, Coen van der Kamp)
  * Add ability to define `form_classname` on `ListBlock` & `StreamBlock` (LB (Ben Johnston))
  * Add documentation about how to use `Rustface` for image feature detection (Neal Todd)
+ * Improve performance of public/not_public queries in `PageQuerySet` (Timothy Bautista)
  * Fix: Support IPv6 domain (Alex Gleason, Coen van der Kamp)
  * Fix: Ensure link to add a new user works when no users are visible in the users list (LB (Ben Johnston))
  * Fix: `AbstractEmailForm` saved submission fields are now aligned with the email content fields, `form.cleaned_data` will be used instead of `form.fields` (Haydn Greatnews)
diff --git a/docs/releases/2.10.rst b/docs/releases/2.10.rst
index b89ca822c2..8c33603ea5 100644
--- a/docs/releases/2.10.rst
+++ b/docs/releases/2.10.rst
@@ -35,6 +35,7 @@ Other features
  * Render the Wagtail User Bar on non ``Page`` views (Caitlin White, Coen van der Kamp)
  * Add ability to define ``form_classname`` on ``ListBlock`` & ``StreamBlock`` (LB (Ben Johnston))
  * Add documentation about how to use ``Rustface`` for image feature detection (Neal Todd)
+ * Improve performance of public/not_public queries in ``PageQuerySet`` (Timothy Bautista)
 
 
 Bug fixes
diff --git a/wagtail/contrib/sitemaps/tests.py b/wagtail/contrib/sitemaps/tests.py
index eb35daa871..28e2c994e6 100644
--- a/wagtail/contrib/sitemaps/tests.py
+++ b/wagtail/contrib/sitemaps/tests.py
@@ -73,7 +73,7 @@ class TestSitemapGenerator(TestCase):
         req_protocol = request.scheme
 
         sitemap = Sitemap()
-        with self.assertNumQueries(18):
+        with self.assertNumQueries(17):
             urls = [url['location'] for url in sitemap.get_urls(1, django_site, req_protocol)]
 
         self.assertIn('http://localhost/', urls)  # Homepage
@@ -88,7 +88,7 @@ class TestSitemapGenerator(TestCase):
         # pre-seed find_for_request cache, so that it's not counted towards the query count
         Site.find_for_request(request)
 
-        with self.assertNumQueries(16):
+        with self.assertNumQueries(15):
             urls = [url['location'] for url in sitemap.get_urls(1, django_site, req_protocol)]
 
         self.assertIn('http://localhost/', urls)  # Homepage
diff --git a/wagtail/core/query.py b/wagtail/core/query.py
index fa38cba009..6d130a15f3 100644
--- a/wagtail/core/query.py
+++ b/wagtail/core/query.py
@@ -220,7 +220,7 @@ class PageQuerySet(SearchableQuerySetMixin, TreeQuerySet):
         from wagtail.core.models import PageViewRestriction
 
         q = Q()
-        for restriction in PageViewRestriction.objects.all():
+        for restriction in PageViewRestriction.objects.select_related('page').all():
             q &= ~self.descendant_of_q(restriction.page, inclusive=True)
         return q
 
diff --git a/wagtail/core/tests/test_page_queryset.py b/wagtail/core/tests/test_page_queryset.py
index 820170a970..f3f4fdcd5e 100644
--- a/wagtail/core/tests/test_page_queryset.py
+++ b/wagtail/core/tests/test_page_queryset.py
@@ -366,17 +366,18 @@ class TestPageQuerySet(TestCase):
         # Add PageViewRestriction to events_index
         PageViewRestriction.objects.create(page=events_index, password='hello')
 
-        # Get public pages
-        pages = Page.objects.public()
+        with self.assertNumQueries(4):
+            # Get public pages
+            pages = Page.objects.public()
 
-        # Check that the homepage is in the results
-        self.assertTrue(pages.filter(id=homepage.id).exists())
+            # Check that the homepage is in the results
+            self.assertTrue(pages.filter(id=homepage.id).exists())
 
-        # Check that the events index is not in the results
-        self.assertFalse(pages.filter(id=events_index.id).exists())
+            # Check that the events index is not in the results
+            self.assertFalse(pages.filter(id=events_index.id).exists())
 
-        # Check that the event is not in the results
-        self.assertFalse(pages.filter(id=event.id).exists())
+            # Check that the event is not in the results
+            self.assertFalse(pages.filter(id=event.id).exists())
 
     def test_not_public(self):
         events_index = Page.objects.get(url_path='/home/events/')
@@ -386,17 +387,18 @@ class TestPageQuerySet(TestCase):
         # Add PageViewRestriction to events_index
         PageViewRestriction.objects.create(page=events_index, password='hello')
 
-        # Get public pages
-        pages = Page.objects.not_public()
+        with self.assertNumQueries(4):
+            # Get public pages
+            pages = Page.objects.not_public()
 
-        # Check that the homepage is not in the results
-        self.assertFalse(pages.filter(id=homepage.id).exists())
+            # Check that the homepage is not in the results
+            self.assertFalse(pages.filter(id=homepage.id).exists())
 
-        # Check that the events index is in the results
-        self.assertTrue(pages.filter(id=events_index.id).exists())
+            # Check that the events index is in the results
+            self.assertTrue(pages.filter(id=events_index.id).exists())
 
-        # Check that the event is in the results
-        self.assertTrue(pages.filter(id=event.id).exists())
+            # Check that the event is in the results
+            self.assertTrue(pages.filter(id=event.id).exists())
 
     def test_merge_queries(self):
         type_q = Page.objects.type_q(EventPage)