Provided is a 3D registration method and apparatus that may select a key point from among plural points included in 3D target data, based on a geometric feature or a color feature of each of the plural points, may adjust a position of the selected key point of the 3D target data based on features of, or a distance between, a key point of the 3D source data and the selected key point of the 3D target data, may calculate reliabilities of plural key points of the 3D source data based on respective features of at least one key point of the 3D target data determined to correspond to the plural key points of the 3D source data, and may generate 3D registration data by performing 3D registration between the 3D source data and the 3D target data based on the calculated reliabilities.