diff --git a/dm_control/utils/transformations.py b/dm_control/utils/transformations.py
index 74289c35..15f17964 100644
--- a/dm_control/utils/transformations.py
+++ b/dm_control/utils/transformations.py
@@ -116,7 +116,7 @@ def _rmat_to_euler_zyx(rmat):
   """Converts a 3x3 rotation matrix to ZYX euler angles."""
   if rmat[2, 0] > _POLE_LIMIT:
     logging.warning('Angle at North Pole')
-    x = np.arctan2(rmat[0, 1], rmat[0, 2])
+    x = np.arctan2(-rmat[0, 1], -rmat[0, 2])
     y = -np.pi/2
     z = 0.0
     return np.array([z, y, x])
@@ -140,7 +140,7 @@ def _rmat_to_euler_xzy(rmat):
   """Converts a 3x3 rotation matrix to XZY euler angles."""
   if rmat[0, 1] > _POLE_LIMIT:
     logging.warning('Angle at North Pole')
-    y = np.arctan2(rmat[1, 2], rmat[1, 0])
+    y = np.arctan2(-rmat[1, 2], -rmat[1, 0])
     z = -np.pi/2
     x = 0.0
     return np.array([x, z, y])
@@ -164,7 +164,7 @@ def _rmat_to_euler_yzx(rmat):
   """Converts a 3x3 rotation matrix to YZX euler angles."""
   if rmat[1, 0] > _POLE_LIMIT:
     logging.warning('Angle at North Pole')
-    x = -np.arctan2(rmat[0, 2], rmat[0, 1])
+    x = np.arctan2(rmat[0, 2], -rmat[0, 1])
     z = np.pi/2
     y = 0.0
     return np.array([y, z, x])
diff --git a/dm_control/utils/transformations_test.py b/dm_control/utils/transformations_test.py
index b11a5694..4c145267 100644
--- a/dm_control/utils/transformations_test.py
+++ b/dm_control/utils/transformations_test.py
@@ -109,6 +109,16 @@ def test_euler_to_rmat_special(self, angles):
       euler_angles = transformations.rmat_to_euler(r, ordering)
       np.testing.assert_allclose(euler_angles, [r1, r2, r3])
 
+  @parameterized.parameters('XYZ', 'ZYX', 'XZY', 'YZX', 'ZXY', 'YXZ')
+  def test_rmat_to_euler_tait_bryan_singularities(self, ordering):
+    middle_angles = (-np.pi/2, np.pi/2)
+    for angles in itertools.product((-.3, .3), middle_angles, (-.7, .7)):
+      rmat = transformations.euler_to_rmat(angles, ordering)
+      euler_angles = transformations.rmat_to_euler(rmat, ordering)
+      # Euler angles are not unique at a singularity, but the rotation is.
+      reconstructed = transformations.euler_to_rmat(euler_angles, ordering)
+      np.testing.assert_allclose(reconstructed, rmat, atol=1e-10)
+
   def test_quat_mul_vs_mat_mul_random(self):
     for _ in range(_NUM_RANDOM_SAMPLES):
       quat1 = self._random_quaternion()