In this paper, by introducing new matrix operations and using a specific inverse relation, we establish the dual forms of the orthogonality relations for some well-known discrete and continuous $q$-orthogonal polynomials from the Askey-scheme such as the little and big $q$-Jacobi, $q$-Racah, (generalized) $q$-Laguerre, as well as the Askey-Wilson polynomials. As one of the most interesting results, we show that the Askey-Wilson $q$-beta integral represented in terms of the VWP-balanced $\,_8φ_7$ series is just a dual form of the orthogonality relation of the Askey-Wilson polynomials.