diff --git a/doc/source/api.rst b/doc/source/api.rst
index b8050c92..08281eb2 100644
--- a/doc/source/api.rst
+++ b/doc/source/api.rst
@@ -361,6 +361,7 @@ Dual Quaternion
    :template: function.rst
 
    ~check_dual_quaternion
+   ~dual_quaternion_requires_renormalization
    ~dq_conj
    ~dq_q_conj
    ~concatenate_dual_quaternions
diff --git a/pytransform3d/test/test_transformations.py b/pytransform3d/test/test_transformations.py
index fc307dc2..651a7d89 100644
--- a/pytransform3d/test/test_transformations.py
+++ b/pytransform3d/test/test_transformations.py
@@ -599,6 +599,9 @@ def test_check_dual_quaternion():
 
     dq3 = pt.check_dual_quaternion([0] * 8, unit=False)
     assert dq3.shape[0] == 8
+    assert pt.dual_quaternion_requires_renormalization(dq3)
+    dq4 = pt.check_dual_quaternion(dq3, unit=True)
+    assert not pt.dual_quaternion_requires_renormalization(dq4)
 
 
 def test_normalize_dual_quaternion():
diff --git a/pytransform3d/transformations/__init__.py b/pytransform3d/transformations/__init__.py
index 564a6500..7f0954ea 100644
--- a/pytransform3d/transformations/__init__.py
+++ b/pytransform3d/transformations/__init__.py
@@ -5,7 +5,8 @@
 from ._utils import (
     transform_requires_renormalization, check_transform, check_pq,
     check_screw_parameters, check_screw_axis, check_exponential_coordinates,
-    check_screw_matrix, check_transform_log, check_dual_quaternion)
+    check_screw_matrix, check_transform_log,
+    dual_quaternion_requires_renormalization, check_dual_quaternion)
 from ._conversions import (
     transform_from, rotate_transform, translate_transform,
     pq_from_transform, transform_from_pq,
@@ -48,7 +49,8 @@
     "transform_requires_renormalization", "check_transform", "check_pq",
     "check_screw_parameters", "check_screw_axis",
     "check_exponential_coordinates", "check_screw_matrix",
-    "check_transform_log", "check_dual_quaternion",
+    "check_transform_log", "dual_quaternion_requires_renormalization",
+    "check_dual_quaternion",
     "transform_from", "rotate_transform", "translate_transform",
     "pq_from_transform", "transform_from_pq",
     "transform_from_transform_log", "transform_log_from_transform",
diff --git a/pytransform3d/transformations/_utils.py b/pytransform3d/transformations/_utils.py
index 99383841..b89a1ed2 100644
--- a/pytransform3d/transformations/_utils.py
+++ b/pytransform3d/transformations/_utils.py
@@ -373,6 +373,51 @@ def check_transform_log(transform_log, tolerance=1e-6, strict_check=True):
     return transform_log
 
 
+def dual_quaternion_requires_renormalization(dq, tolerance=1e-6):
+    r"""Check if dual quaternion requires renormalization.
+
+    Dual quaternions that represent transformations in 3D should have unit
+    norm. Since the real and the dual quaternion are orthogonal, their
+    product is 0. In addition, :math:`\epsilon^2 = 0`. Hence,
+
+    .. math::
+
+        ||\boldsymbol{p} + \epsilon \boldsymbol{q}||
+        =
+        \sqrt{(\boldsymbol{p} + \epsilon \boldsymbol{q}) \cdot
+        (\boldsymbol{p} + \epsilon \boldsymbol{q})}
+        =
+        \sqrt{\boldsymbol{p}\cdot\boldsymbol{p}
+        + 2\epsilon \boldsymbol{p}\cdot\boldsymbol{q}
+        + \epsilon^2 \boldsymbol{q}\cdot\boldsymbol{q}}
+        =
+        \sqrt{\boldsymbol{p}\cdot\boldsymbol{p}},
+
+    i.e., the norm only depends on the real quaternion.
+
+    Parameters
+    ----------
+    dq : array-like, shape (8,)
+        Dual quaternion to represent transform:
+        (pw, px, py, pz, qw, qx, qy, qz)
+
+    tolerance : float, optional (default: 1e-6)
+        Tolerance for check.
+
+    Returns
+    -------
+    required : bool
+        Indicates if renormalization is required.
+
+    See Also
+    --------
+    check_dual_quaternion
+        Input validation of dual quaternion representation. Has an option to
+        normalize the dual quaternion.
+    """
+    return abs(np.linalg.norm(dq[:4]) - 1.0) > tolerance
+
+
 def check_dual_quaternion(dq, unit=True):
     """Input validation of dual quaternion representation.
 
@@ -418,7 +463,8 @@ def check_dual_quaternion(dq, unit=True):
                          "array-like object with shape %s" % (dq.shape,))
     if unit:
         # Norm of a dual quaternion only depends on the real part because
-        # the dual part vanishes with epsilon ** 2 = 0.
+        # the dual part vanishes with (1) epsilon ** 2 = 0 and (2) the real
+        # and dual part being orthogonal, i.e., their product is 0.
         real_norm = np.linalg.norm(dq[:4])
         if real_norm == 0.0:
             return np.r_[1, 0, 0, 0, dq[4:]]
diff --git a/pytransform3d/transformations/_utils.pyi b/pytransform3d/transformations/_utils.pyi
index 4b5c555f..cd90a60d 100644
--- a/pytransform3d/transformations/_utils.pyi
+++ b/pytransform3d/transformations/_utils.pyi
@@ -33,4 +33,7 @@ def check_transform_log(transform_log: npt.ArrayLike, tolerance: float = ...,
                         strict_check: bool = ...) -> np.ndarray: ...
 
 
+def dual_quaternion_requires_renormalization(dq: npt.ArrayLike, tolerance: float = ...) -> bool: ...
+
+
 def check_dual_quaternion(dq: npt.ArrayLike, unit: bool = ...) -> np.ndarray: ...