check-soa
As you can see, it supports ipv4/ipv6:
$ check-soa -i ciscodude.net
ns0.ciscodude.net.
2604:4280:d000:11::6: OK: 2014061301 (0 ms)
199.202.21.6: OK: 2014061301 (0 ms)
ns2.henchman21.net.
107.170.63.61: OK: 2014061301 (44 ms)
ns3.hcdn.pw.
206.220.199.250: OK: 2014061301 (1 ms)
$ check-soa -i 21.202.199.in-addr.arpa
ns0.ciscodude.net.
199.202.21.6: OK: 2014061401 (0 ms)
2604:4280:d000:11::6: OK: 2014061401 (0 ms)
ns2.henchman21.net.
107.170.63.61: OK: 2014061401 (43 ms)
ns3.hcdn.pw.
206.220.199.250: OK: 2014061401 (0 ms)
The project is hosted at github.com/bortzmeyer/check-soa.
I’ve found that it doesn’t build with the bundled version of golang in Debian wheezy, I had to install the latest stable binary package to resolve hash/tsig related errors.