Consider the semiparametric transformation model $Λ_{θ_o}(Y)=m(X)+ε$, where $θ_o$ is an unknown finite dimensional parameter, the functions $Λ_{θ_o}$ and $m$ are smooth, $ε$ is independent of $X$, and $\esp(ε)=0$. We propose a kernel-type estimator of the density of the error $ε$, and prove its asymptotic normality. The estimated errors, which lie at the basis of this estimator, are obtained from a profile likelihood estimator of $θ_o$ and a nonparametric kernel estimator of $m$. The practical performance of the proposed density estimator is evaluated in a simulation study.