Try below command:

# sched-stats -t cpu | grep vcpu

[root@esxi-16:~] sched-stats -t cpu | grep vcpu
vcpu vsmp type name uptime status usedsec syssec wait waitsec idlesec readysec min max units shares group emin cpu llc prio mode affinity
757179 757179 U vmx-vcpu-0:VM-03 74506.526 WAIT 818.815 0.000 IDLE 73630.596 71637.028 53.855 0 -1 pct 2000 vm.757166 1744 2 2 0 0 0-7
757181 757179 U vmx-vcpu-1:VM-03 74506.517 WAIT 897.525 0.000 IDLE 73535.015 72482.473 70.004 0 -1 pct 2000 vm.757166 1744 3 3 0 0 0-7
757364 757364 U vmx-vcpu-0:VM-06 74501.212 WAIT 568.980 0.000 IDLE 73834.234 73328.542 98.886 0 -1 pct 1000 vm.757269 497 2 2 0 0 0-7
1618850 1618850 U vmx-vcpu-0:vCLS-d68e9ed4-deab- 507.596 WAIT 20.893 0.000 IDLE 486.196 479.341 0.466 0 -1 pct 1000 vm.1618842 497 7 7 0 0 0-7