df['diff'] = df.sort_values(['id','time']).groupby('id')['time'].diff()
print (df)
  id                time     diff
0  A 2016-11-25 16:32:17      NaT
1  A 2016-11-25 16:36:04 00:00:35
2  A 2016-11-25 16:35:29 00:03:12
3  B 2016-11-25 16:35:24      NaT
4  B 2016-11-25 16:35:46 00:00:22