diff --git a/pytorch3d/transforms/transform3d.py b/pytorch3d/transforms/transform3d.py
index f992db4d8..681742de0 100644
--- a/pytorch3d/transforms/transform3d.py
+++ b/pytorch3d/transforms/transform3d.py
@@ -5,6 +5,7 @@
 # LICENSE file in the root directory of this source tree.
 
 import math
+import os
 import warnings
 from typing import List, Optional, Union
 
@@ -636,7 +637,10 @@ def __init__(
             msg = "R must have shape (3, 3) or (N, 3, 3); got %s"
             raise ValueError(msg % repr(R.shape))
         R = R.to(device=device_, dtype=dtype)
-        _check_valid_rotation_matrix(R, tol=orthogonal_tol)
+        if os.environ.get("PYTORCH3D_CHECK_ROTATION_MATRICES", "0") == "1":
+            # Note: aten::all_close in the check is computationally slow, so we
+            # only run the check when PYTORCH3D_CHECK_ROTATION_MATRICES is on.
+            _check_valid_rotation_matrix(R, tol=orthogonal_tol)
         N = R.shape[0]
         mat = torch.eye(4, dtype=dtype, device=device_)
         mat = mat.view(1, 4, 4).repeat(N, 1, 1)
diff --git a/tests/test_transforms.py b/tests/test_transforms.py
index 3d8ebd628..bfd67febe 100644
--- a/tests/test_transforms.py
+++ b/tests/test_transforms.py
@@ -4,9 +4,10 @@
 # This source code is licensed under the BSD-style license found in the
 # LICENSE file in the root directory of this source tree.
 
-
 import math
+import os
 import unittest
+from unittest import mock
 
 import torch
 from pytorch3d.transforms import random_rotations
@@ -191,7 +192,25 @@ def test_translate(self):
         self.assertTrue(torch.allclose(points_out, points_out_expected))
         self.assertTrue(torch.allclose(normals_out, normals_out_expected))
 
-    def test_rotate(self):
+    @mock.patch.dict(os.environ, {"PYTORCH3D_CHECK_ROTATION_MATRICES": "1"}, clear=True)
+    def test_rotate_check_rot_valid_on(self):
+        R = so3_exp_map(torch.randn((1, 3)))
+        t = Transform3d().rotate(R)
+        points = torch.tensor([[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.5, 0.5, 0.0]]).view(
+            1, 3, 3
+        )
+        normals = torch.tensor(
+            [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [1.0, 1.0, 0.0]]
+        ).view(1, 3, 3)
+        points_out = t.transform_points(points)
+        normals_out = t.transform_normals(normals)
+        points_out_expected = torch.bmm(points, R)
+        normals_out_expected = torch.bmm(normals, R)
+        self.assertTrue(torch.allclose(points_out, points_out_expected))
+        self.assertTrue(torch.allclose(normals_out, normals_out_expected))
+
+    @mock.patch.dict(os.environ, {"PYTORCH3D_CHECK_ROTATION_MATRICES": "0"}, clear=True)
+    def test_rotate_check_rot_valid_off(self):
         R = so3_exp_map(torch.randn((1, 3)))
         t = Transform3d().rotate(R)
         points = torch.tensor([[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.5, 0.5, 0.0]]).view(