We have found there is usually a lag of only a second or two at best because program arbitrage traders keep the ETFs in line with the futures.
Although there is not a big difference between QQQ/SPY and the futures, we have noticed there is indeed a bigger lag time with some of the sector ETFs and HOLDRS such as BBH, SMH, OIH, etc.
In general, the less liquid the ETF, the more opportunity for a premium we have found.