The work done in moving a charge from one point to another on an equipotential surface is zero. If the field is not normal to an equipotential surface, it would have a nonzero component along the surface. This would imply that work would have to be done to move a charge on the surface which is contradictory to the definition of equipotential surface

Mathematically Work done to move a charge dq, on a surface, can be expressed as
dW = dq \((\overrightarrow E.\overrightarrow {dr})\)
But dW = 0 on an equipotential surface
\(\therefore\overrightarrow E\perp\overrightarrow{dr}\)
Equipotential surfaces for a charge –q is shown alongside.