A three-dimensional (3D) radio frequency identification (RFID) tag and an environment condition recognition system and method using the 3D RFID tag are provided. The environment condition recognition system capable of recognizing position and orientation of the object includes a plurality of RF tags each having a self identifier ID, being independently disposed, and having an orientation with respect to a main axial direction, an RFID antenna activating the tags and initiating connection with the RF tags, a reader connected to the antenna and reading information of the RF tags, and an analysis unit connected to the reader and collecting and analyzing the information of the tags.