The invention relates to the field of wireless communication, in particular to a three-dimensional vehicular ad hoc network route selection method based on packet receiving probability, which comprises the following steps: acquiring position information of a current vehicle and acquiring a neighbor vehicle set of the current vehicle by using a global positioning system; if a target vehicle existsin the neighbor vehicle set, directly performing forwarding; otherwise, constructing a packet acceptance probability model according to a SINR model, a link availability model and a buffer queue model, and converting a routing problem into a link reliability problem; solving a link reliability problem by adopting a particle swarm algorithm based on multi-objective decision, and selecting a link vehicle with the highest link reliability as a next relay vehicle. According to the method, the dynamics of the vehicle and the network characteristics of the three-dimensional Internet of Vehicles scene are considered jointly, the packet transmission rate and throughput of the routing process are improved, and the end-to-end delay is reduced.