Prolonged acquisition time and susceptibility to respiratory motion remain to be the major challenge in 3D free-breathing whole-heart MR angiography. Recently, respiratory self-navigated 3D-Radial CMRA technique has been proposed to address the said limitations. In this technique, a 1-D projection oriented in Superior-Inferior direction are acquired at every heartbeat before each interleave of 3D-Radial imaging data for 1D motion correction of the heart with 100% respiratory gating efficiency. In this work, an extension of this method is proposed to estimate and correct for the 3D motion of the heart along with a robust navigator processing and automatic coil selection algorithm (3D-PRONAV). The proposed method is validated in five volunteers.