We examine a spin torque induced by the Rashba spin-orbit coupling in three dimensions within the Boltzmann transport theory. We analytically calculate the spin torque and show how its behavior is related with the spin topology in the Fermi surfaces by studying the Fermi-energy dependence of the spin torque. Moreover we discuss the spin-torque efficiency which is the spin torque divided by the applied electric current in association with the current-induced magnetization reversal. It is found that high spin-torque efficiency is achieved when the Fermi energy lies on only the lower band and there exists an optimal value for the Rashba parameter, where the spin-torque efficiency becomes maximum.

7 pages, 5 figures