Schiphol is usually very quick at all times of the year (5-10mins) as they have decent staff and you don't need to take liquids etc out of your bag. Here's a handy link with current wait times plus there's a drop down menu for historic data.
https://www.schiphol.nl/en/my-travel-day/today
The train to Centraal takes ~15 mins and runs roughly every 10mins assuming there's no maintenance on. Best to check that.