We study the critical dynamics of crystals which undergo a second-order phase transition from a high-temperature normal phase to a structurally incommensurate (IC) modulated phase. We give a comprehensive description of the critical dynamics of such systems, e.g. valid for crystals of the A2BX4 family. Using an extended renormalization scheme, we present a framework in which we analyze the phases above and below the critical temperature TI . Above TI , the crossover from the critical behavior to the mean-field regime is studied. Specifically, the resulting width of the critical region is investigated. In the IC modulated phase, we consider explicitly the coupling of the order parameter modes to one-loop order. Here the Goldstone anomalies and their effect on measurable quantities are investigated. We show their relation with the postulated phason gap. While the theory can be applied to a variety of experiments, we concentrate on quadrupole-perturbed nuclear magnetic resonance (NMR) experiments. We find excellent agreement with these dynamical measurements and provide answers for some questions that arose from recent results.