diff --git a/geometry/point_to_plane_distance.py b/geometry/point_to_plane_distance.py
new file mode 100644
index 000000000000..26a3cca7a2fd
--- /dev/null
+++ b/geometry/point_to_plane_distance.py
@@ -0,0 +1,26 @@
+from math import sqrt
+
+
+def point_to_plane_distance(
+    x: float, y: float, z: float, a: float, b: float, c: float, d: 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 a == 0 and b == 0 and c == 0:
+        raise ValueError("Normal vector cannot be zero.")
+
+    return abs(a * x + b * y + c * z + d) / sqrt(a**2 + b**2 + c**2)