Provided is a three-dimensional (3D) data processing method for effectively removing noise occurring in a procedure of compressing and restoring 3D data. A 3D data compressing method according to an embodiment may include: generating a geometry image indicating position information of points, by projecting the points onto a two-dimensional (2D) plane, the points being included in 3D original data; compressing the geometry image; generating 3D reconstructed data by decompressing and reconstructing the compressed geometry image; compensating the 3D reconstructed data, based on the 3D original data; generating and compressing a texture image, based on the compensated 3D reconstructed data and color information of the points included in the 3D original data; and outputting the compressed geometry image, the compressed texture image, and compensation information related to the compensating of the 3D reconstructed data.