You can use Cloud Pub/Sub does work as a distributed queue. So does TaskQueues.
Re-reading your requirements, I think it's the "10ms" message delivery latency. You can get there at the median, but not in the tail, with these services where you would expect >10ms end-to-end latency. If you need 10ms latency in the tail (or 10ms for 99.99% of your requests), you may have to implement your own service, likely sacrificing some availability or durability relative to both of the managed offerings. A popular piece of software there is RabbitMQ. You can also tune Apache Kafka to go that low, particularly, if you are willing to sacrifice replication and are willing to run it in the same zone as you application. I hear good things about Redis, as well.
Might I suggest you start with TaskQueues and see if they get you close enough?