User embodiment is important for many virtual reality (VR) applications, for example, in the context of social interaction, therapy, training, or entertainment. However, there is no validated instrument to empirically measure the perception of embodiment, necessary to reliably evaluate this important quality of user experience (UX). To assess components of virtual embodiment in a valid, reliable, and consistent fashion, we develped a Virtual Embodiment Questionnaire (VEQ). We reviewed previous literature to identify applicable constructs and items, and performed a confirmatory factor analysis (CFA) on the data from three experiments (N = 196). Each experiment modified a distinct simulation property, namely, the level of immersion, the level of personalization, and the level of behavioral realism. The analysis confirmed three factors: (1) ownership of a virtual body, (2) agency over a virtual body, and (3) change in the perceived body schema. A fourth study (N = 22) further confirmed the reliability and validity of the scale and investigated the impacts of latency jitter of avatar movements presented in the simulation compared to linear latencies and a baseline. We present the final scale and further insights from the studies regarding related constructs.