Considering that sending a command and receiving the response is taking most of the time, the fastest way to create a directory path is using as few commands as possible.
As there is no way other than to try to create or cd into a directory to check for its existence, just using mkdir a; mkdir a/b; ..., mkdir a/b/c/d/e/f would be the generally fastest way (do not cd into the subdirectories to create the next as this would prolong the process).
If you create multiple directories this way, you could of course keep track of which top-level directories you already created. Also, depending on the length of your paths and the likelihood that the upper directories already exist, you could try to start with e.g. mkdir a/b/c (for a/b/c/d/e/f) and then backtrack if it did not succeed. However if it's more likely that directories do not exist this will actually be slower in the long run.