diff --git a/geometry/point_to_plane_distance.py b/geometry/point_to_plane_distance.py
new file mode 100644
index 000000000000..a2dbe8120dbf
--- /dev/null
+++ b/geometry/point_to_plane_distance.py
@@ -0,0 +1,34 @@
+from math import sqrt
+
+
+def point_to_plane_distance(
+    point_x: float,
+    point_y: float,
+    point_z: float,
+    normal_x: float,
+    normal_y: float,
+    normal_z: float,
+    plane_constant: float,
+) -> float:
+    """
+    Return the distance between a point (x, y, z) and the plane
+    ax + by + cz + d = 0 using the Hesse normal form.
+
+    Reference:
+    https://en.wikipedia.org/wiki/Hesse_normal_form
+
+    >>> point_to_plane_distance(1, 2, 3, 1, 0, 0, -1)
+    0.0
+    >>> point_to_plane_distance(3, 2, 1, 1, 0, 0, -1)
+    2.0
+    >>> point_to_plane_distance(1, 2, 3, 0, 0, 0, 4)
+    Traceback (most recent call last):
+        ...
+    ValueError: Normal vector cannot be zero.
+    """
+    if normal_x == 0 and normal_y == 0 and normal_z == 0:
+        raise ValueError("Normal vector cannot be zero.")
+
+    return abs(
+        normal_x * point_x + normal_y * point_y + normal_z * point_z + plane_constant
+    ) / sqrt(normal_x**2 + normal_y**2 + normal_z**2)