diff --git a/pytransform3d/rotations.py b/pytransform3d/rotations.py
index 19bd0e2..d7248e4 100644
--- a/pytransform3d/rotations.py
+++ b/pytransform3d/rotations.py
@@ -133,8 +133,10 @@ def angle_between_vectors(a, b, fast=False):
         Angle between a and b
     """
     if len(a) != 3 or fast:
-        return np.arccos(np.dot(a, b) /
-                         (np.linalg.norm(a) * np.linalg.norm(b)))
+        cos_angle = np.dot(a, b) / (np.linalg.norm(a) * np.linalg.norm(b))
+        # Clip due to floating point errors
+        cos_angle = min(1.0, max(-1.0, cos_angle))
+        return np.arccos(cos_angle)
     else:
         return np.arctan2(np.linalg.norm(np.cross(a, b)), np.dot(a, b))