diff --git a/CHANGELOG.md b/CHANGELOG.md
index 053d5454dfed..f694cc549246 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -10,6 +10,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Added
 
+* Added the magic method `__str__` to `compas.geoemetry.Transformation`.
+
 ### Changed
 
 * Fixed bug where mimic joints were considered configurable.
diff --git a/src/compas/geometry/transformations/transformation.py b/src/compas/geometry/transformations/transformation.py
index f1dbc4eed299..821046fd3ace 100644
--- a/src/compas/geometry/transformations/transformation.py
+++ b/src/compas/geometry/transformations/transformation.py
@@ -100,6 +100,13 @@ def __eq__(self, other, tol=1e-05):
     def __repr__(self):
         return "Transformation({})".format(self.matrix)
 
+    def __str__(self):
+        s = "[[%s],\n" % ",".join([("%.4f" % n).rjust(10) for n in self.matrix[0]])
+        s += " [%s],\n" % ",".join([("%.4f" % n).rjust(10) for n in self.matrix[1]])
+        s += " [%s],\n" % ",".join([("%.4f" % n).rjust(10) for n in self.matrix[2]])
+        s += " [%s]]\n" % ",".join([("%.4f" % n).rjust(10) for n in self.matrix[3]])
+        return s
+
     def __len__(self):
         return len(self.matrix)
 
diff --git a/tests/compas/geometry/test_transformations/test_transformation.py b/tests/compas/geometry/test_transformations/test_transformation.py
index 703ae6597701..c2f76b4fa662 100644
--- a/tests/compas/geometry/test_transformations/test_transformation.py
+++ b/tests/compas/geometry/test_transformations/test_transformation.py
@@ -108,10 +108,30 @@ def test_list():
     assert T.list == [1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0]
 
 
-def concatenate():
+def test_concatenated():
     trans1 = [1, 2, 3]
     angle1 = [-2.142, 1.141, -0.142]
     T1 = Translation.from_vector(trans1)
     R1 = Rotation.from_euler_angles(angle1)
-    M1 = T1.concatenate(R1)
+    M1 = T1.concatenated(R1)
     assert allclose(M1, T1 * R1)
+
+
+def test___repr__():
+    trans = [1, 2, 3]
+    axes = [-2.142, 1.141, -0.142]
+    angle = 0.7854
+    R = Rotation.from_axis_and_angle(axes, angle, point=trans)
+    assert R == eval(repr(R))
+
+
+def test___str__():
+    s = '[[    0.9345,   -0.0798,    0.3469,   -0.8157],\n' + \
+        ' [   -0.1624,    0.7716,    0.6150,   -1.2258],\n' + \
+        ' [   -0.3168,   -0.6311,    0.7081,    2.4546],\n' + \
+        ' [    0.0000,    0.0000,    0.0000,    1.0000]]\n'
+    trans = [1, 2, 3]
+    axes = [-2.142, 1.141, -0.142]
+    angle = 0.7854
+    R = Rotation.from_axis_and_angle(axes, angle, point=trans)
+    assert s == str(R)