An implantable, multi-chamber cardiac stimulation device and method automatically adjust inter-chamber stimulation delays whenever stimulation rate is changed according to a patient's metabolic need. Inter-chamber stimulation delays include inter-atrial delays, inter-ventricular delays, and atrio-ventricular delays. Inter-chamber stimulation delays are defined according to whether the event which triggers the start of the delay is an intrinsic sensed event or the delivery of a stimulation pulse. Adjustment to inter-chamber stimulation delays is made as a function of the stimulation rate changes. By providing automatically adjustable inter-chamber stimulation delays optimal synchronization of heart chamber contractions may be maintained at all stimulation rates.