diff --git a/core/math/quaternion.cpp b/core/math/quaternion.cpp
index 08eac14b76d6..eb2fa2d86565 100644
--- a/core/math/quaternion.cpp
+++ b/core/math/quaternion.cpp
@@ -83,7 +83,7 @@ Quaternion Quaternion::normalized() const {
 }
 
 bool Quaternion::is_normalized() const {
-	return Math::is_equal_approx(length_squared(), 1, (real_t)UNIT_EPSILON); //use less epsilon
+	return Math::is_equal_approx(length(), 1, (real_t)UNIT_EPSILON); //use less epsilon
 }
 
 Quaternion Quaternion::inverse() const {
diff --git a/editor/editor_properties.cpp b/editor/editor_properties.cpp
index c5a35e466c91..9b04fbc215e5 100644
--- a/editor/editor_properties.cpp
+++ b/editor/editor_properties.cpp
@@ -1941,6 +1941,30 @@ void EditorPropertyQuaternion::_set_read_only(bool p_read_only) {
 	}
 }
 
+void EditorPropertyQuaternion::_edit_normalize_quaternion_value() {
+	if (normalize_quaternion_bttn->is_pressed()) {
+		EditorUndoRedoManager *undo_redo = EditorUndoRedoManager::get_singleton();
+		undo_redo->create_action("Quaternion Normalized");
+
+		Quaternion temp;
+		for (int i = 0; i < 4; i++) {
+			temp[i] = (real_t)spin[i]->get_value();
+
+			//undo_redo->add_undo_property(spin[i], "Un-Normalize Quaternion", spin[i]);
+			undo_redo->add_undo_property(get_edited_object(), get_edited_property(), spin[i]);
+		}
+		temp = temp.normalized();
+		for (int i = 0; i < 4; i++) {
+			spin[i]->set_value_no_signal((double)temp[i]);
+
+			undo_redo->add_undo_property(get_edited_object(), get_edited_property(), temp[i]);
+			//undo_redo->add_do_property(spin[i], "Re-Normalize Quaternion", temp[i]);
+		}
+		_value_changed(-1, "");
+		undo_redo->commit_action();
+	}
+}
+
 void EditorPropertyQuaternion::_edit_custom_value() {
 	if (edit_button->is_pressed()) {
 		edit_custom_bc->show();
@@ -2065,6 +2089,7 @@ EditorPropertyQuaternion::EditorPropertyQuaternion() {
 
 	VBoxContainer *bc = memnew(VBoxContainer);
 	edit_custom_bc = memnew(VBoxContainer);
+	normalize_quaternion = memnew(VBoxContainer);
 	BoxContainer *edit_custom_layout;
 	if (horizontal) {
 		default_layout = memnew(HBoxContainer);
@@ -2076,10 +2101,12 @@ EditorPropertyQuaternion::EditorPropertyQuaternion() {
 	}
 	edit_custom_bc->hide();
 	add_child(bc);
+	normalize_quaternion->set_h_size_flags(SIZE_EXPAND_FILL);
 	edit_custom_bc->set_h_size_flags(SIZE_EXPAND_FILL);
 	default_layout->set_h_size_flags(SIZE_EXPAND_FILL);
 	edit_custom_layout->set_h_size_flags(SIZE_EXPAND_FILL);
 	bc->add_child(default_layout);
+	bc->add_child(normalize_quaternion);
 	bc->add_child(edit_custom_bc);
 
 	static const char *desc[4] = { "x", "y", "z", "w" };
@@ -2095,6 +2122,12 @@ EditorPropertyQuaternion::EditorPropertyQuaternion() {
 		}
 	}
 
+	normalize_quaternion_bttn = memnew(Button);
+	normalize_quaternion_bttn->set_text("Normalize");
+	normalize_quaternion_bttn->connect(SceneStringName(pressed), callable_mp(this, &EditorPropertyQuaternion::_edit_normalize_quaternion_value));
+	add_focusable(normalize_quaternion_bttn);
+	normalize_quaternion->add_child(normalize_quaternion_bttn);
+
 	warning = memnew(Button);
 	warning->set_text(TTR("Temporary Euler may be changed implicitly!"));
 	warning->set_clip_text(true);
diff --git a/editor/editor_properties.h b/editor/editor_properties.h
index 004630da3e22..897e2104158b 100644
--- a/editor/editor_properties.h
+++ b/editor/editor_properties.h
@@ -487,14 +487,17 @@ class EditorPropertyQuaternion : public EditorProperty {
 	AcceptDialog *warning_dialog = nullptr;
 
 	Label *euler_label = nullptr;
+	VBoxContainer *normalize_quaternion = nullptr;
 	VBoxContainer *edit_custom_bc = nullptr;
 	EditorSpinSlider *euler[3];
 	Button *edit_button = nullptr;
+	Button *normalize_quaternion_bttn = nullptr;
 
 	Vector3 edit_euler;
 
 	void _value_changed(double p_val, const String &p_name);
 	void _edit_custom_value();
+	void _edit_normalize_quaternion_value();
 	void _custom_value_changed(double p_val);
 	void _warning_pressed();
 
diff --git a/scene/3d/skeleton_3d.cpp b/scene/3d/skeleton_3d.cpp
index 9e4c9b183266..521c8ff38a9c 100644
--- a/scene/3d/skeleton_3d.cpp
+++ b/scene/3d/skeleton_3d.cpp
@@ -865,6 +865,10 @@ void Skeleton3D::set_bone_pose_rotation(int p_bone, const Quaternion &p_rotation
 	const int bone_size = bones.size();
 	ERR_FAIL_INDEX(p_bone, bone_size);
 
+	if (!p_rotation.is_normalized()) {
+		WARN_PRINT_ED("The quaternion bone " + get_bone_name(p_bone) + " pose rotation must be normalized.");
+	}
+
 	bones[p_bone].pose_rotation = p_rotation;
 	bones[p_bone].pose_cache_dirty = true;
 	if (is_inside_tree()) {