Pulsed terahertz (THz) wave sensing and imaging is a coherent measurement technology. Like radar, based on the phase and amplitude of the THz pulse at each frequency, THz waves provide temporal and spectroscopic information that allows us to develop various three-dimensional (3D) terahertz tomographic imaging modalities. The 3D THz tomographic imaging methods we investigated include THz time-of-flight tomography, THz computed tomography (CT) and THz binary lens tomography. THz time-of-flight uses the THz pulses as a probe beam to temporally mark the target, and then constructs a 3D image of the target using the THz waves scattered by the target. THz CT is based on geometrical optics and inspired from X-ray CT. THz binary lens tomography uses the frequency-dependent focal-length property of binary lenses to obtain tomographic images of an object. Three-dimensional THz imaging has potential in such applications as non-destructive inspection. The interaction between a coherent THz pulse and an object provides rich information about the object under study; therefore, 3D THz imaging can be used to inspect or characterize dielectric and semiconductor objects. For example, 3D THz imaging has been used to detect and identify the defects inside a Space Shuttle insulation tile.