ntpd and OpenNTPD status

ntpd

ntpq -p

ntpq -p
     remote           refid      st t when poll reach   delay   offset  jitter
==============================================================================
*ts1.safematix.com 192.168.0.1    2 u   19   64  377    0.572   -0.064   0.173
+ts2.safematix.com 192.168.0.2    3 u   28   64  377    0.406    0.021   0.298

OpenNTPD

Since OpenBSD 5.5, you have the tool ntpctl

ntpctl -s all

ntpctl -s all
4/4 peers valid, clock unsynced

peer
   wt tl st  next  poll          offset       delay      jitter
82.197.188.130 from pool ch.pool.ntp.org 
    1 10  2   29s   32s         0.268ms     8.530ms     1.015ms
212.51.144.44 from pool ch.pool.ntp.org 
    1 10  1   31s   33s         0.075ms     9.118ms     0.575ms
91.235.212.22 from pool ch.pool.ntp.org 
    1 10  2    1s   32s        -0.835ms     9.015ms     0.791ms
91.240.0.5 from pool ch.pool.ntp.org 
    1 10  3    5s   32s         0.459ms     9.860ms     1.492ms