Lemma 6.36.

Let \(p\colon P \twoheadrightarrow B\) be an effective epimorphism equipped with a \(\Gg\)-action over \(B\), and let \(P\quot\Gg \in T_{/B}\) denote the quotient. Then \(p\) is a principal \(\Gg\)-bundle if and only if the canonical map \(P\quot\Gg \to B\) is an isomorphism.

Proof
This is an instance of Lemma 6.33 applied in the slice topos \(T_{/B}\).