Network device discovery method and system performs network device discovery in a more efficient manner by retrieving information from a registration network device about other network devices and then using the retrieved information to select discovery tests to discover the configuration of the other network devices in a more efficient manner. For instance, video network device discovery process identifies a gatekeeper and retrieves the registration list of video devices from the gatekeeper. The video devices on the gatekeeper registration list are then queried with selected discovery tests to determine network configuration for the devices, such as device type, without having to use unnecessary discovery tests associated with the discovery of other types of network devices.