diff --git a/python/mujoco/functions_test.py b/python/mujoco/functions_test.py
new file mode 100644
index 00000000..62c67672
--- /dev/null
+++ b/python/mujoco/functions_test.py
@@ -0,0 +1,80 @@
+# Copyright 2022 DeepMind Technologies Limited
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ==============================================================================
+"""Tests for MuJoCo Python function bindings."""
+
+from absl.testing import absltest
+from absl.testing import parameterized
+
+from introspect import functions
+
+import mujoco
+
+# Omitted UI framework functions (no support yet)
+UI_FUNCTIONS = [
+    'mjui_add', 'mjui_addToSection', 'mjui_event', 'mjui_render', 'mjui_resize',
+    'mjui_themeColor', 'mjui_themeSpacing', 'mjui_update'
+]
+
+# Omitted error and alloc/free memory functions (not needed in Python)
+MEMORY_FUNCTIONS = [
+    'mju_strncpy', 'mju_clearHandlers', 'mju_warning', 'mju_warning_i',
+    'mju_warning_s', 'mju_malloc', 'mju_free', 'mju_error', 'mju_error_i',
+    'mju_error_s', 'mju_boxQPmalloc', 'mj_warning', 'mj_stackAlloc',
+    'mj_makeData', 'mj_copyData', 'mj_deleteData', 'mj_loadModel',
+    'mj_copyModel', 'mj_deleteModel'
+]
+
+# Omitted irrelevant renderer context functions
+CONTEXT_FUNCTIONS = ['mjr_makeContext', 'mjr_freeContext', 'mjr_defaultContext']
+
+# Omitted irrelevant visual functions
+VISUAL_FUNCTIONS = [
+    'mjv_defaultScene', 'mjv_makeScene', 'mjv_freeScene', 'mjv_averageCamera'
+]
+
+# Omitted XML and Virtual Filesystem (VFS) functions
+VFS_FUNCTIONS = [
+    'mj_loadXML', 'mj_makeEmptyFileVFS', 'mj_freeLastXML', 'mj_findFileVFS',
+    'mj_deleteVFS', 'mj_defaultVFS', 'mj_addFileVFS', 'mj_deleteFileVFS'
+]
+
+# Omitted plugin functions
+PLUGIN_FUNCTIONS = [
+    'mj_getPluginConfig', 'mjp_getPlugin', 'mjp_getPluginAtSlot',
+    'mjp_pluginCount', 'mjp_registerPlugin', 'mjp_defaultPlugin'
+]
+
+# All omitted functions from the bindings
+OMITTED_LIST = [
+    *UI_FUNCTIONS, *MEMORY_FUNCTIONS, *CONTEXT_FUNCTIONS, *VISUAL_FUNCTIONS,
+    *VFS_FUNCTIONS, *PLUGIN_FUNCTIONS
+]
+
+class MuJoCoFunctionsTest(parameterized.TestCase):
+  def test_for_missing_function_bindings(self):
+    # All functions found by introspect
+    possible_funcs = functions.FUNCTIONS.keys()
+
+    # All functions accounted for (have bindings or otherwise omitted)
+    accounted_funcs = set(OMITTED_LIST + dir(mujoco))
+
+    # List of possibly missing functions
+    missing_funcs = [f for f in possible_funcs if f not in accounted_funcs]
+
+    # Verify that there are no missing functions in the Python bindings
+    self.assertEmpty(missing_funcs)
+
+if __name__ == '__main__':
+  absltest.main()