The scientific community, regulatory agencies, environmentalists, and most industry representatives all agree that more effort is required to ensure the responsible and safe development of new nanotechnologies. Characterizing nanomaterials is a key aspect in this effort. There is no universally agreed upon minimum set of characteristics although certain common properties are included in most recommendations. Therefore, characterization becomes more like a puzzle put together with various measurements rather than a single straightforward analytical measurement. In this chapter, we emphasize and illustrate the important elements of nanoparticle characterization with a systematic approach to physicochemical characterization. We start with an overview describing the properties that are most significant to toxicological testing along with suggested methods for characterizing an as-received nanomaterial and then specifically address the measurement of size, surface properties, and imaging.