diff --git a/INSTALL.md b/INSTALL.md
index 34568865..fa87746d 100644
--- a/INSTALL.md
+++ b/INSTALL.md
@@ -34,12 +34,13 @@ For developing on top of PyTorch3D or contributing, you will need to run the lin
 - tdqm
 - jupyter
 - imageio
+- plotly
 
 These can be installed by running:
 ```
 # Demos
 conda install jupyter
-pip install scikit-image matplotlib imageio
+pip install scikit-image matplotlib imageio plotly
 
 # Tests/Linting
 pip install black 'isort<5' flake8 flake8-bugbear flake8-comprehensions
diff --git a/pytorch3d/visualization/__init__.py b/pytorch3d/visualization/__init__.py
new file mode 100644
index 00000000..a9b9685c
--- /dev/null
+++ b/pytorch3d/visualization/__init__.py
@@ -0,0 +1,6 @@
+# Copyright (c) Facebook, Inc. and its affiliates. All rights reserved.
+
+from .mesh_plotly import AxisArgs, Lighting, plot_meshes
+
+
+__all__ = [k for k in globals().keys() if not k.startswith("_")]
diff --git a/pytorch3d/visualization/mesh_plotly.py b/pytorch3d/visualization/mesh_plotly.py
new file mode 100644
index 00000000..14b2f1a4
--- /dev/null
+++ b/pytorch3d/visualization/mesh_plotly.py
@@ -0,0 +1,199 @@
+# Copyright (c) Facebook, Inc. and its affiliates. All rights reserved.
+
+import warnings
+from typing import NamedTuple, Optional, Tuple
+
+import plotly.graph_objects as go
+import torch
+from plotly.subplots import make_subplots
+from pytorch3d.renderer import TexturesVertex
+from pytorch3d.structures import Meshes
+
+
+class AxisArgs(NamedTuple):
+    showgrid: bool = False
+    zeroline: bool = False
+    showline: bool = False
+    ticks: str = ""
+    showticklabels: bool = False
+    backgroundcolor: str = "#fff"
+    showaxeslabels: bool = False
+
+
+class Lighting(NamedTuple):
+    ambient: float = 0.8
+    diffuse: float = 1.0
+    fresnel: float = 0.0
+    specular: float = 0.0
+    roughness: float = 0.5
+    facenormalsepsilon: float = 1e-6
+    vertexnormalsepsilon: float = 1e-12
+
+
+def plot_meshes(meshes: Meshes, *, in_subplots: bool = False, ncols: int = 1, **kwargs):
+    """
+    Takes a Meshes object and generates a plotly figure. If there is more than
+    one mesh in the batch and in_subplots=True, each mesh will be
+    visualized in an individual subplot with ncols number of subplots in the same row.
+    Otherwise, each mesh in the batch will be visualized as an individual trace in the
+    same plot. If the Meshes object has vertex colors defined as its texture, the vertex
+    colors will be used for generating the plotly figure. Otherwise plotly's default
+    colors will be used.
+
+    Args:
+        meshes: Meshes object to be visualized in a plotly figure.
+        in_subplots: if each mesh in the batch should be visualized in an individual subplot
+        ncols: number of subplots in the same row if in_subplots is set to be True. Otherwise
+            ncols will be ignored.
+        **kwargs: Accepts lighting (a Lighting object) and lightposition for Mesh3D and any of
+            the args xaxis, yaxis and zaxis accept for scene. Accepts axis_args which is an
+            AxisArgs object that is applied to the 3 axes. Also accepts subplot_titles, which
+            should be a list of string titles matching the number of subplots.
+            Example settings for axis_args and lighting are given above.
+
+    Returns:
+        Plotly figure of the mesh. If there is more than one mesh in the batch,
+            the plotly figure will contain a series of vertically stacked subplots.
+    """
+    meshes = meshes.detach().cpu()
+    subplot_titles = kwargs.get("subplot_titles", None)
+    fig = _gen_fig_with_subplots(len(meshes), in_subplots, ncols, subplot_titles)
+    for i in range(len(meshes)):
+        verts = meshes[i].verts_packed()
+        faces = meshes[i].faces_packed()
+        # If mesh has vertex colors defined as texture, use vertex colors
+        # for figure, otherwise use plotly's default colors.
+        verts_rgb = None
+        if isinstance(meshes[i].textures, TexturesVertex):
+            verts_rgb = meshes[i].textures.verts_features_packed()
+            verts_rgb.clamp_(min=0.0, max=1.0)
+            verts_rgb = torch.tensor(255.0) * verts_rgb
+
+        # Reposition the unused vertices to be "inside" the object
+        # (i.e. they won't be visible in the plot).
+        verts_used = torch.zeros((verts.shape[0],), dtype=torch.bool)
+        verts_used[torch.unique(faces)] = True
+        verts_center = verts[verts_used].mean(0)
+        verts[~verts_used] = verts_center
+
+        trace_row = i // ncols + 1 if in_subplots else 1
+        trace_col = i % ncols + 1 if in_subplots else 1
+        fig.add_trace(
+            go.Mesh3d(  # pyre-ignore[16]
+                x=verts[:, 0],
+                y=verts[:, 1],
+                z=verts[:, 2],
+                vertexcolor=verts_rgb,
+                i=faces[:, 0],
+                j=faces[:, 1],
+                k=faces[:, 2],
+                lighting=kwargs.get("lighting", Lighting())._asdict(),
+                lightposition=kwargs.get("lightposition", {}),
+            ),
+            row=trace_row,
+            col=trace_col,
+        )
+        # Ensure update for every subplot.
+        plot_scene = "scene" + str(i + 1) if in_subplots else "scene"
+        current_layout = fig["layout"][plot_scene]
+
+        axis_args = kwargs.get("axis_args", AxisArgs())
+
+        xaxis, yaxis, zaxis = _gen_updated_axis_bounds(
+            verts, verts_center, current_layout, axis_args
+        )
+        # Update the axis bounds with the axis settings passed in as kwargs.
+        xaxis.update(**kwargs.get("xaxis", {}))
+        yaxis.update(**kwargs.get("yaxis", {}))
+        zaxis.update(**kwargs.get("zaxis", {}))
+
+        current_layout.update(
+            {"xaxis": xaxis, "yaxis": yaxis, "zaxis": zaxis, "aspectmode": "cube"}
+        )
+    return fig
+
+
+def _gen_fig_with_subplots(
+    batch_size: int, in_subplots: bool, ncols: int, subplot_titles: Optional[list]
+):
+    """
+    Takes in the number of objects to be plotted and generate a plotly figure
+    with the appropriate number and orientation of subplots
+    Args:
+        batch_size: the number of elements in the batch of objects to be visualized.
+        in_subplots: if each object should be visualized in an individual subplot.
+        ncols: number of subplots in the same row if in_subplots is set to be True. Otherwise
+            ncols will be ignored.
+        subplot_titles: titles for the subplot(s). list of strings of length batch_size
+            if in_subplots is True, otherwise length 1.
+
+    Returns:
+        Plotly figure with one plot if in_subplots is false. Otherwise, returns a plotly figure
+        with ncols subplots per row.
+    """
+    if batch_size % ncols != 0:
+        msg = "ncols is invalid for the given mesh batch size."
+        warnings.warn(msg)
+    fig_rows = batch_size // ncols if in_subplots else 1
+    fig_cols = ncols if in_subplots else 1
+    fig_type = [{"type": "scene"}]
+    specs = [fig_type * fig_cols] * fig_rows
+    # subplot_titles must have one title per subplot
+    if subplot_titles is not None and len(subplot_titles) != fig_cols * fig_rows:
+        subplot_titles = None
+    fig = make_subplots(
+        rows=fig_rows,
+        cols=fig_cols,
+        specs=specs,
+        subplot_titles=subplot_titles,
+        column_widths=[1.0] * fig_cols,
+    )
+    return fig
+
+
+def _gen_updated_axis_bounds(
+    verts: torch.Tensor,
+    verts_center: torch.Tensor,
+    current_layout: go.Scene,  # pyre-ignore[11]
+    axis_args: AxisArgs,
+) -> Tuple[dict, dict, dict]:
+    """
+    Takes in the vertices, center point of the vertices, and the current plotly figure and
+    outputs axes with bounds that capture all points in the current subplot.
+    Args:
+        verts: tensor of size (N, 3) representing N points with xyz coordinates.
+        verts_center: tensor of size (3) corresponding to the center point of verts.
+        current_layout: the current plotly figure layout scene corresponding to verts' trace.
+        axis_args: an AxisArgs object with default and/or user-set values for plotly's axes.
+
+    Returns:
+        a 3 item tuple of xaxis, yaxis, and zaxis, which are dictionaries with axis arguments
+        for plotly including a range key with value the minimum and maximum value for that axis.
+    """
+    # Get ranges of vertices.
+    max_expand = (verts.max(0)[0] - verts.min(0)[0]).max()
+    verts_min = verts_center - max_expand
+    verts_max = verts_center + max_expand
+    bounds = torch.t(torch.stack((verts_min, verts_max)))
+
+    # Ensure that within a subplot, the bounds capture all traces
+    old_xrange, old_yrange, old_zrange = (
+        current_layout["xaxis"]["range"],
+        current_layout["yaxis"]["range"],
+        current_layout["zaxis"]["range"],
+    )
+    x_range, y_range, z_range = bounds
+    if old_xrange is not None:
+        x_range[0] = min(x_range[0], old_xrange[0])
+        x_range[1] = max(x_range[1], old_xrange[1])
+    if old_yrange is not None:
+        y_range[0] = min(y_range[0], old_yrange[0])
+        y_range[1] = max(y_range[1], old_yrange[1])
+    if old_zrange is not None:
+        z_range[0] = min(z_range[0], old_zrange[0])
+        z_range[1] = max(z_range[1], old_zrange[1])
+    axis_args_dict = axis_args._asdict()
+    xaxis = {"range": x_range, **axis_args_dict}
+    yaxis = {"range": y_range, **axis_args_dict}
+    zaxis = {"range": z_range, **axis_args_dict}
+    return xaxis, yaxis, zaxis