diff --git a/src/Magnum/Math/Matrix4.h b/src/Magnum/Math/Matrix4.h
index 2008ac00f..dd7722efa 100644
--- a/src/Magnum/Math/Matrix4.h
+++ b/src/Magnum/Math/Matrix4.h
@@ -491,6 +491,10 @@ template<class T> class Matrix4: public Matrix4x4<T> {
             return rotationScaling().isOrthogonal() && row(3) == Vector4<T>(T(0), T(0), T(0), T(1));
         }
 
+        Vector3<Rad<T>> toEuler() const;
+        Vector3<Rad<T>> toEulerXZY() const;
+        Vector3<Rad<T>> toEulerYZX() const;
+
         /**
          * @brief 3D rotation and scaling part of the matrix
          *
@@ -1088,6 +1092,80 @@ template<class T> Matrix4<T> Matrix4<T>::lookAt(const Vector3<T>& eye, const Vec
     return from({right, realUp, backward}, eye);
 }
 
+template<class T> Vector3<Rad<T>> Matrix4<T>::toEuler() const { /* XYZ */
+    Vector3<Rad<T>> euler{Magnum::NoInit};
+
+    const T m11 = (*this)[0][0];
+    const T m12 = (*this)[0][1];
+    const T m13 = (*this)[0][2];
+    const T m21 = (*this)[1][0];
+    const T m22 = (*this)[1][1];
+    const T m23 = (*this)[1][2];
+    const T m33 = (*this)[2][2];
+
+    euler.y() = Rad<T>(std::asin(-Math::min(Math::max(m13, T(-1.0)), T(1.0))));
+
+    if(!TypeTraits<T>::equalsZero(m13 - T(1.0), T(1.0))) {
+        euler.x() = Rad<T>(std::atan2(m23, m33));
+        euler.z() = Rad<T>(std::atan2(m12, m11));
+    } else {
+        euler.x() = Rad<T>(0.0);
+        euler.z() = Rad<T>(std::atan2(-m21, m22));
+    }
+
+    return euler;
+}
+
+/* https://github.com/mrdoob/three.js/blob/6892dd0aba1411d35c5e2b44dc6ff280b24d6aa2/src/math/Euler.js#L213 */
+template<class T> Vector3<Rad<T>> Matrix4<T>::toEulerXZY() const {
+    Vector3<Rad<T>> euler{Magnum::NoInit};
+
+    const T m11 = (*this)[0][0];
+    const T m12 = (*this)[0][1];
+    const T m13 = (*this)[0][2];
+    const T m22 = (*this)[1][1];
+    const T m31 = (*this)[2][0];
+    const T m32 = (*this)[2][1];
+    const T m33 = (*this)[2][2];
+
+    euler.z() = Rad<T>(std::asin(Math::min(Math::max(m12, T(-1.0)), T(1.0))));
+
+    if(!TypeTraits<T>::equalsZero(m12 - T(1.0), T(1.0))) {
+        euler.x() = Rad<T>(std::atan2(-m32, m22));
+        euler.y() = Rad<T>(std::atan2(-m13, m11));
+    } else {
+        euler.x() = Rad<T>(0.0);
+        euler.y() = Rad<T>(std::atan2(m31, m33));
+    }
+
+    return euler;
+}
+
+/* https://github.com/mrdoob/three.js/blob/6892dd0aba1411d35c5e2b44dc6ff280b24d6aa2/src/math/Euler.js#L229 */
+template<class T> Vector3<Rad<T>> Matrix4<T>::toEulerYZX() const {
+    Vector3<Rad<T>> euler{Magnum::NoInit};
+
+    const T m11 = (*this)[0][0];
+    const T m21 = (*this)[1][0];
+    const T m22 = (*this)[1][1];
+    const T m23 = (*this)[1][2];
+    const T m31 = (*this)[2][0];
+    const T m32 = (*this)[2][1];
+    const T m33 = (*this)[2][2];
+
+    euler.z() = Rad<T>(std::asin(-Math::min(Math::max(m21, T(-1.0)), T(1.0))));
+
+    if(!TypeTraits<T>::equalsZero(m21 - T(1.0), T(1.0))) {
+        euler.x() = Rad<T>(std::atan2(m23, m22));
+        euler.y() = Rad<T>(std::atan2(m31, m11));
+    } else {
+        euler.x() = Rad<T>(0.0);
+        euler.y() = Rad<T>(std::atan2(-m32, m33));
+    }
+
+    return euler;
+}
+
 template<class T> Matrix3x3<T> Matrix4<T>::rotation() const {
     Matrix3x3<T> rotation{(*this)[0].xyz().normalized(),
                           (*this)[1].xyz().normalized(),
diff --git a/src/Magnum/Math/Test/Matrix4Test.cpp b/src/Magnum/Math/Test/Matrix4Test.cpp
index 4a45d200f..32e188152 100644
--- a/src/Magnum/Math/Test/Matrix4Test.cpp
+++ b/src/Magnum/Math/Test/Matrix4Test.cpp
@@ -115,6 +115,8 @@ struct Matrix4Test: Corrade::TestSuite::Tester {
     void transform();
     void transformProjection();
 
+    void euler();
+
     void strictWeakOrdering();
 
     void debug();
@@ -184,6 +186,8 @@ Matrix4Test::Matrix4Test() {
               &Matrix4Test::transform,
               &Matrix4Test::transformProjection,
 
+              &Matrix4Test::euler,
+
               &Matrix4Test::strictWeakOrdering,
 
               &Matrix4Test::debug});
@@ -986,6 +990,38 @@ void Matrix4Test::transformProjection() {
     CORRADE_COMPARE(a.transformPoint(v), Vector3(0.0f, 0.0f, 1.0f));
 }
 
+void Matrix4Test::euler() {
+    Matrix4 a{
+        {-0.459509, -0.888116, -0.0100141, 0},
+        {0.888142, -0.45937, -0.0135043, 0},
+        {0.00739323, -0.0150993, 0.999859, 0},
+        {-0.406013, 10.1443, -2.54406, 1}};
+    Debug{} << a;
+
+    {
+        Math::Vector3<Rad> b = a.toEuler(); // XYZ
+        Debug{} << b;
+        Debug{} <<
+            Matrix4::rotationZ(b.z())*
+            Matrix4::rotationY(b.y())*
+            Matrix4::rotationX(b.x());
+    } {
+        Math::Vector3<Rad> b = a.toEulerXZY();
+        Debug{} << b;
+        Debug{} << Matrix4{
+            Matrix4::rotationY(b.y())*
+            Matrix4::rotationZ(b.z())*
+            Matrix4::rotationX(b.x())};
+    } {
+        Math::Vector3<Rad> b = a.toEulerYZX();
+        Debug{} << b;
+        Debug{} <<
+            Matrix4::rotationX(b.x())*
+            Matrix4::rotationZ(b.z())*
+            Matrix4::rotationY(b.y());
+    }
+}
+
 void Matrix4Test::strictWeakOrdering() {
     StrictWeakOrdering o;
     const Matrix4 a(Vector4{1.0f, 1.0f, 2.0f, 2.0f}, Vector4{5.0f, 5.0f, 6.0f, 5.0f}, Vector4{5.0f, 5.0f, 6.0f, 5.0f}, Vector4{3.0f, 1.0f, 2.0f, 4.0f});