The paper considers the existence of quasi-periodic solutions in three-dimensional systems. Since these solutions commonly arise as a consequence of a Neimark–Sacker bifurcation of a limit cycle, a fairly general relation connected to this phenomenon is pointed out as the main result of the paper. Then, the application of harmonic balance techniques makes possible to exploit such a relation. In particular, a simplified condition denoting the quasi-periodicity onset can be derived, in making evident the main elements for this transition in terms of structure and parameters, and hence some remarks on the features of the interested systems. Several examples show the application of the above condition to detect "tori" in the state space in a qualitative (not simply numerical) way. They consider classical systems — Rössler, where such behavior seems to be unknown, Chua, forced Van der Pol — and new quadratic systems.