Three-dimensional atomic magnetometry scheme is proposed and experimented. The scheme uses only one laser beam and can measure three components of the magnetic field independently. Spin-exchange-relaxation-free regime is verified by magnetic resonance measurement. The open loop scale factors of −2.722 mV/nT, −1.452 mV/nT and 0.076 mV/nT for the three axes are characterized. The model considering the frequency response and linewidth variation can fit the measurement data well. As only one laser beam is required, the magnetometry is easy to be realized on chip scale and is particularly attractive for applications requiring low power, low cost and high precision at the same time.