diff --git a/doc/python/magnum.math.rst b/doc/python/magnum.math.rst
index feeacb7..3a13ca6 100644
--- a/doc/python/magnum.math.rst
+++ b/doc/python/magnum.math.rst
@@ -322,6 +322,8 @@
     :raise ValueError: If either of the quaternions is not normalized
 .. py:function:: magnum.Quaternion.rotation(angle: magnum.Rad, normalized_axis: magnum.Vector3)
     :raise ValueError: If :p:`normalized_axis` is not normalized
+.. py:function:: magnum.Quaternion.rotation(normalized_from: magnum.Vector3, normalized_to: magnum.Vector3)
+    :raise ValueError: If either of the vectors is not normalized
 .. py:function:: magnum.Quaterniond.rotation(angle: magnum.Rad, normalized_axis: magnum.Vector3d)
     :raise ValueError: If :p:`normalized_axis` is not normalized
 .. py:function:: magnum.Quaternion.reflection
diff --git a/doc/python/pages/changelog.rst b/doc/python/pages/changelog.rst
index 4c31378..1efa02d 100644
--- a/doc/python/pages/changelog.rst
+++ b/doc/python/pages/changelog.rst
@@ -68,8 +68,8 @@ Changelog
 -   Exposed :ref:`Color3.from_xyz()`, :ref:`Color3.from_linear_rgb_int()`,
     :ref:`Color3.to_xyz()`, :ref:`Color3.to_linear_rgb_int()` and equivalent
     APIs on :ref:`Color4`
--   Exposed new :ref:`Quaternion.reflection()` and
-    :ref:`Quaternion.reflect_vector()` APIs
+-   Exposed new :ref:`Quaternion.rotation()`, :ref:`Quaternion.reflection()`
+    and :ref:`Quaternion.reflect_vector()` APIs
 -   Exposed :ref:`gl.Context` and its platform-specific subclasses for EGL, WGL
     and GLX
 -   Exposed :ref:`gl.Framebuffer.attach_texture()` and missing sRGB, depth
diff --git a/src/python/magnum/math.cpp b/src/python/magnum/math.cpp
index ea40ebe..673c0ed 100644
--- a/src/python/magnum/math.cpp
+++ b/src/python/magnum/math.cpp
@@ -348,6 +348,13 @@ template<class T> void quaternion(py::module_& m, py::class_<T>& c) {
             }
             return T::rotation(Math::Rad<typename T::Type>(angle), normalizedAxis);
         }, "Rotation quaternion", py::arg("angle"), py::arg("normalized_axis"))
+        .def_static("rotation", [](const Math::Vector3<typename T::Type>& normalizedFrom, const Math::Vector3<typename T::Type>& normalizedTo) {
+            if(!normalizedFrom.isNormalized() || !normalizedTo.isNormalized()) {
+                PyErr_Format(PyExc_ValueError, "vectors %S and %S are not normalized", py::cast(normalizedFrom).ptr(), py::cast(normalizedTo).ptr());
+                throw py::error_already_set{};
+            }
+            return T::rotation(normalizedFrom, normalizedTo);
+        }, "Quaternion rotating from a vector to another", py::arg("normalized_from"), py::arg("normalized_to"))
         .def_static("reflection", [](const Math::Vector3<typename T::Type>& normal) {
             if(!normal.isNormalized()) {
                 PyErr_Format(PyExc_ValueError, "normal %S is not normalized", py::cast(normal).ptr());
diff --git a/src/python/magnum/test/test_math.py b/src/python/magnum/test/test_math.py
index 0b104e4..7af36d3 100644
--- a/src/python/magnum/test/test_math.py
+++ b/src/python/magnum/test/test_math.py
@@ -1451,15 +1451,26 @@ class Quaternion_(unittest.TestCase):
         self.assertEqual(a, Quaternion((0.382683, 0.0, 0.0), 0.92388))
         self.assertEqual(a.to_matrix(), Matrix4.rotation_x(Deg(45.0)).rotation_scaling())
 
-        b = Quaternion.from_matrix(Matrix4.rotation_x(Deg(45.0)).rotation_scaling())
-        self.assertEqual(b, Quaternion((0.382683, 0.0, 0.0), 0.92388))
+        # Same as in QuaternionTest::rotationTwoVectors()
+        b = Vector3(1.0/math.sqrt3)
+        c = Vector3(Vector2(1.0/math.sqrt2), 0.0)
+        d = Quaternion.rotation(b, c)
+        self.assertEqual(d, Quaternion((-0.214186, 0.214186, 0.0), 0.953021))
+        self.assertEqual(d.transform_vector(b), c)
 
-        c = Quaternion.reflection(Vector3.x_axis())
-        self.assertEqual(c, Quaternion((1.0, 0.0, 0.0), 0.0))
+        e = Quaternion.from_matrix(Matrix4.rotation_x(Deg(45.0)).rotation_scaling())
+        self.assertEqual(e, Quaternion((0.382683, 0.0, 0.0), 0.92388))
+
+        f = Quaternion.reflection(Vector3.x_axis())
+        self.assertEqual(f, Quaternion((1.0, 0.0, 0.0), 0.0))
 
     def test_static_methods_invalid(self):
         with self.assertRaisesRegex(ValueError, "axis Vector\\(2, 0, 1\\) is not normalized"):
             Quaternion.rotation(Deg(35.0), Vector3(2.0, 0.0, 1.0))
+        with self.assertRaisesRegex(ValueError, "vectors Vector\\(2, 0, 0\\) and Vector\\(0, 1, 0\\) are not normalized"):
+            Quaternion.rotation(Vector3(2.0, 0.0, 0.0), Vector3(0.0, 1.0, 0.0))
+        with self.assertRaisesRegex(ValueError, "vectors Vector\\(1, 0, 0\\) and Vector\\(0, 2, 0\\) are not normalized"):
+            Quaternion.rotation(Vector3(1.0, 0.0, 0.0), Vector3(0.0, 2.0, 0.0))
         with self.assertRaisesRegex(ValueError, "normal Vector\\(2, 0, 1\\) is not normalized"):
             Quaternion.reflection(Vector3(2.0, 0.0, 1.0))
         with self.assertRaisesRegex(ValueError, """the matrix is not a rotation: