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Schema Languages

A grammar-based schema language such as DTD or Relax NG declares the grammar for an XML document. It defines the permissible structures, contents, and orders of the elements, attributes, and entities.
A rule-based schema language such as Schematron specifies the relationships that must hold for the values of the elements and attributes.

Very expressive, XSD is both grammar-based and rule-based.

An XML document that conforms to the schema defined in a schema language is said to be valid.

You can validate your XML document online at:
http://validator.w3.org/check 
http://www.validome.org/grammar/             
http://www.xmlvalidation.com/
http://www.freeformatter.com/xml-validator-xsd.html

You can also use any other offline tools such as:
1. XML Check (DTD and XSD)
(http://download.cnet.com/XML-Validator/3000-7241_4-75765753.html)
2. Jing (Relax NG and Relax NG Compact)
 (http://www.thaiopensource.com/relaxng/jing.html)
3. XML Validator Buddy (Schematron)
(http://www.xml-buddy.com/download.htm)