How to validate an OAuth 2.0 access token for a resource server?

Google way

Google Oauth2 Token Validation

Request:

https://www.googleapis.com/oauth2/v1/tokeninfo?access_token=1/fFBGRNJru1FQd44AzqT3Zg

Respond:

{
  "audience":"8819981768.apps.googleusercontent.com",
  "user_id":"123456789",
  "scope":"https://www.googleapis.com/auth/userinfo.profile https://www.googleapis.com/auth/userinfo.email",
  "expires_in":436
} 

Microsoft way

Microsoft - Oauth2 check an authorization

Github way

Github - Oauth2 check an authorization

Request:

GET /applications/:client_id/tokens/:access_token

Respond:

{
  "id": 1,
  "url": "https://api.github.com/authorizations/1",
  "scopes": [
    "public_repo"
  ],
  "token": "abc123",
  "app": {
    "url": "http://my-github-app.com",
    "name": "my github app",
    "client_id": "abcde12345fghij67890"
  },
  "note": "optional note",
  "note_url": "http://optional/note/url",
  "updated_at": "2011-09-06T20:39:23Z",
  "created_at": "2011-09-06T17:26:27Z",
  "user": {
    "login": "octocat",
    "id": 1,
    "avatar_url": "https://github.com/images/error/octocat_happy.gif",
    "gravatar_id": "somehexcode",
    "url": "https://api.github.com/users/octocat"
  }
}

Amazon way

Login With Amazon - Developer Guide (Dec. 2015, page 21)

Request :

https://api.amazon.com/auth/O2/tokeninfo?access_token=Atza|IQEBLjAsAhRmHjNgHpi0U-Dme37rR6CuUpSR...

Response :

HTTP/l.l 200 OK
Date: Fri, 3l May 20l3 23:22:l0 GMT 
x-amzn-RequestId: eb5be423-ca48-lle2-84ad-5775f45l4b09 
Content-Type: application/json 
Content-Length: 247 

{ 
  "iss":"https://www.amazon.com", 
  "user_id": "amznl.account.K2LI23KL2LK2", 
  "aud": "amznl.oa2-client.ASFWDFBRN", 
  "app_id": "amznl.application.436457DFHDH", 
  "exp": 3597, 
  "iat": l3ll280970
}

Update Nov. 2015: As per Hans Z. below - this is now indeed defined as part of RFC 7662.

Original Answer: The OAuth 2.0 spec (RFC 6749) doesn't clearly define the interaction between a Resource Server (RS) and Authorization Server (AS) for access token (AT) validation. It really depends on the AS's token format/strategy - some tokens are self-contained (like JSON Web Tokens) while others may be similar to a session cookie in that they just reference information held server side back at the AS.

There has been some discussion in the OAuth Working Group about creating a standard way for an RS to communicate with the AS for AT validation. My company (Ping Identity) has come up with one such approach for our commercial OAuth AS (PingFederate): https://support.pingidentity.com/s/document-item?bundleId=pingfederate-93&topicId=lzn1564003025072.html#lzn1564003025072__section_N10578_N1002A_N10001. It uses REST based interaction for this that is very complementary to OAuth 2.0.