diff --git a/doc/changelog.dox b/doc/changelog.dox
index 8a297cd4c..6e3929f4e 100644
--- a/doc/changelog.dox
+++ b/doc/changelog.dox
@@ -1068,6 +1068,13 @@ See also:
     for consistency with @relativeref{Math::Color3,toSrgbInt()} and
     @relativeref{Math::Color4,toSrgbAlphaInt()} and to prevent accidental type
     mismatches
+-   @cpp Math::angle(const Quaternion<T>&, const Quaternion<T>&) @ce
+    historically returned a half-angle instead of the full angle, which is
+    incorrect. Because fixing it would break all current uses of it, it's
+    deprecated in favor of @ref Math::halfAngle(const Quaternion<T>&, const Quaternion<T>&),
+    which returns the same value but is named appropriately. This function will
+    get reintroduced with a correct output after enough time passes to avoid
+    breaking existing code.
 -   Markup styling for Emscripten application was switched to prefer using
     CSS classes instead of the @cb{.css} #container @ce, @cb{.css} #sizer @ce,
     @cb{.css} #expander @ce, @cb{.css} #listener @ce, @cb{.css} #canvas @ce,
diff --git a/src/Magnum/Math/Complex.h b/src/Magnum/Math/Complex.h
index c31ca523b..a8062abf1 100644
--- a/src/Magnum/Math/Complex.h
+++ b/src/Magnum/Math/Complex.h
@@ -72,7 +72,7 @@ To avoid numerical issues when two complex numbers are very close to each
 other, the dot product is clamped to the @f$ [-1, +1] @f$ range before being
 passed to @f$ \arccos @f$.
 @see @ref Complex::isNormalized(),
-    @ref angle(const Quaternion<T>&, const Quaternion<T>&),
+    @ref halfAngle(const Quaternion<T>&, const Quaternion<T>&),
     @ref angle(const Vector<size, FloatingPoint>&, const Vector<size, FloatingPoint>&)
 */
 template<class T> inline Rad<T> angle(const Complex<T>& normalizedA, const Complex<T>& normalizedB) {
diff --git a/src/Magnum/Math/Quaternion.h b/src/Magnum/Math/Quaternion.h
index 575c4543a..03ff4a13d 100644
--- a/src/Magnum/Math/Quaternion.h
+++ b/src/Magnum/Math/Quaternion.h
@@ -27,7 +27,7 @@
 */
 
 /** @file
- * @brief Class @ref Magnum::Math::Quaternion, function @ref Magnum::Math::dot(), @ref Magnum::Math::angle(), @ref Magnum::Math::lerp(), @ref Magnum::Math::slerp()
+ * @brief Class @ref Magnum::Math::Quaternion, function @ref Magnum::Math::dot(), @ref Magnum::Math::halfAngle(), @ref Magnum::Math::lerp(), @ref Magnum::Math::slerp()
  */
 
 #ifndef CORRADE_NO_DEBUG
@@ -59,7 +59,7 @@ template<class T> inline T dot(const Quaternion<T>& a, const Quaternion<T>& b) {
 }
 
 /** @relatesalso Quaternion
-@brief Angle between normalized quaternions
+@brief Half-angle between normalized quaternions
 
 Expects that both quaternions are normalized. @f[
     \theta = \arccos \left( \frac{p \cdot q}{|p| |q|} \right) = \arccos(p \cdot q)
@@ -72,12 +72,28 @@ passed to @f$ \arccos @f$.
     @ref angle(const Complex<T>&, const Complex<T>&),
     @ref angle(const Vector<size, FloatingPoint>&, const Vector<size, FloatingPoint>&)
  */
-template<class T> inline Rad<T> angle(const Quaternion<T>& normalizedA, const Quaternion<T>& normalizedB) {
+template<class T> inline Rad<T> halfAngle(const Quaternion<T>& normalizedA, const Quaternion<T>& normalizedB) {
     CORRADE_DEBUG_ASSERT(normalizedA.isNormalized() && normalizedB.isNormalized(),
-        "Math::angle(): quaternions" << normalizedA << "and" << normalizedB << "are not normalized", {});
+        "Math::halfAngle(): quaternions" << normalizedA << "and" << normalizedB << "are not normalized", {});
     return Rad<T>{std::acos(clamp(dot(normalizedA, normalizedB), T(-1), T(1)))};
 }
 
+#ifdef MAGNUM_BUILD_DEPRECATED
+/**
+@brief @copybrief halfAngle(const Quaternion<T>&, const Quaternion<T>&)
+@m_deprecated_since_latest This function historically returned a half-angle
+    instead of the full angle, which is incorrect. Because fixing it would
+    break all current uses of it, it's deprecated in favor of
+    @ref halfAngle(const Quaternion<T>&, const Quaternion<T>&), which returns
+    the same value but is named appropriately. This function will get
+    reintroduced with a correct output after enough time passes to avoid
+    breaking existing code.
+*/
+template<class T> CORRADE_DEPRECATED("use halfAngle() instead") inline Rad<T> angle(const Quaternion<T>& normalizedA, const Quaternion<T>& normalizedB) {
+    return halfAngle(normalizedA, normalizedB);
+}
+#endif
+
 /** @relatesalso Quaternion
 @brief Linear interpolation of two quaternions
 @param normalizedA  First quaternion
diff --git a/src/Magnum/Math/Test/QuaternionTest.cpp b/src/Magnum/Math/Test/QuaternionTest.cpp
index 3c8d99858..71dfbaa4a 100644
--- a/src/Magnum/Math/Test/QuaternionTest.cpp
+++ b/src/Magnum/Math/Test/QuaternionTest.cpp
@@ -544,20 +544,26 @@ void QuaternionTest::angle() {
     auto b = Quaternion({4.0f, -3.0f, 2.0f}, -1.0f).normalized();
 
     /* Verify also that the angle is the same as angle between 4D vectors */
-    CORRADE_COMPARE(Math::angle(a, b), Math::angle(
+    CORRADE_COMPARE(Math::halfAngle(a, b), Math::angle(
         Vector4{1.0f, 2.0f, -3.0f, -4.0f}.normalized(),
         Vector4{4.0f, -3.0f, 2.0f, -1.0f}.normalized()));
-    CORRADE_COMPARE(Math::angle(a, b), 1.704528_radf);
-    CORRADE_COMPARE(Math::angle(-a, -b), 1.704528_radf);
-    CORRADE_COMPARE(Math::angle(-a, b), Rad(180.0_degf) - 1.704528_radf);
-    CORRADE_COMPARE(Math::angle(a, -b), Rad(180.0_degf) - 1.704528_radf);
+    CORRADE_COMPARE(Math::halfAngle(a, b), 1.704528_radf);
+    CORRADE_COMPARE(Math::halfAngle(-a, -b), 1.704528_radf);
+    CORRADE_COMPARE(Math::halfAngle(-a, b), Rad(180.0_degf) - 1.704528_radf);
+    CORRADE_COMPARE(Math::halfAngle(a, -b), Rad(180.0_degf) - 1.704528_radf);
 
     /* Same / opposite. Well, almost. It's interesting how imprecise
        normalization can get. */
-    CORRADE_COMPARE_WITH(Math::angle(a, a), 0.0_radf,
+    CORRADE_COMPARE_WITH(Math::halfAngle(a, a), 0.0_radf,
         Corrade::TestSuite::Compare::around(0.0005_radf));
-    CORRADE_COMPARE_WITH(Math::angle(a, -a), 180.0_degf,
+    CORRADE_COMPARE_WITH(Math::halfAngle(a, -a), 180.0_degf,
         Corrade::TestSuite::Compare::around(0.0005_radf));
+
+    /* Trivial case, to verify it's actually returning the right value (hah) */
+    CORRADE_COMPARE(Math::halfAngle(
+        Quaternion::rotation(Deg(20.0f), Vector3::xAxis()),
+        Quaternion::rotation(Deg(70.0f), Vector3::xAxis())),
+        25.0_degf);
 }
 
 void QuaternionTest::angleNormalizedButOver1() {
@@ -567,8 +573,8 @@ void QuaternionTest::angleNormalizedButOver1() {
     Quaternion a{{1.0f + Math::TypeTraits<Float>::epsilon()/2,  0.0f, 0.0f}, 0.0f};
     CORRADE_VERIFY(a.isNormalized());
 
-    CORRADE_COMPARE(Math::angle(a, a), 0.0_radf);
-    CORRADE_COMPARE(Math::angle(a, -a), 180.0_degf);
+    CORRADE_COMPARE(Math::halfAngle(a, a), 0.0_radf);
+    CORRADE_COMPARE(Math::halfAngle(a, -a), 180.0_degf);
 }
 
 void QuaternionTest::angleNotNormalized() {
@@ -577,12 +583,12 @@ void QuaternionTest::angleNotNormalized() {
     std::ostringstream out;
     Error redirectError{&out};
 
-    Math::angle(Quaternion{{1.0f, 2.0f, -3.0f}, -4.0f}.normalized(), {{4.0f, -3.0f, 2.0f}, -1.0f});
-    Math::angle({{1.0f, 2.0f, -3.0f}, -4.0f}, Quaternion{{4.0f, -3.0f, 2.0f}, -1.0f}.normalized());
+    Math::halfAngle(Quaternion{{1.0f, 2.0f, -3.0f}, -4.0f}.normalized(), {{4.0f, -3.0f, 2.0f}, -1.0f});
+    Math::halfAngle({{1.0f, 2.0f, -3.0f}, -4.0f}, Quaternion{{4.0f, -3.0f, 2.0f}, -1.0f}.normalized());
 
     CORRADE_COMPARE(out.str(),
-        "Math::angle(): quaternions Quaternion({0.182574, 0.365148, -0.547723}, -0.730297) and Quaternion({4, -3, 2}, -1) are not normalized\n"
-        "Math::angle(): quaternions Quaternion({1, 2, -3}, -4) and Quaternion({0.730297, -0.547723, 0.365148}, -0.182574) are not normalized\n");
+        "Math::halfAngle(): quaternions Quaternion({0.182574, 0.365148, -0.547723}, -0.730297) and Quaternion({4, -3, 2}, -1) are not normalized\n"
+        "Math::halfAngle(): quaternions Quaternion({1, 2, -3}, -4) and Quaternion({0.730297, -0.547723, 0.365148}, -0.182574) are not normalized\n");
 }
 
 void QuaternionTest::matrix() {