diff --git a/modules/dnn/src/tensorflow/tf_importer.cpp b/modules/dnn/src/tensorflow/tf_importer.cpp
index 534ceff3df..9fd611fd0a 100644
--- a/modules/dnn/src/tensorflow/tf_importer.cpp
+++ b/modules/dnn/src/tensorflow/tf_importer.cpp
@@ -46,6 +46,14 @@ static int toNCHW(int idx)
     else return (4 + idx) % 3 + 1;
 }
 
+static int toNCDHW(int idx)
+{
+    CV_Assert(-5 <= idx && idx < 5);
+    if (idx == 0) return 0;
+    else if (idx > 0) return idx % 4 + 1;
+    else return (5 + idx) % 4 + 1;
+}
+
 // This values are used to indicate layer output's data layout where it's possible.
 enum DataLayout
 {
@@ -1323,6 +1331,8 @@ void TFImporter::populateNet(Net dstNet)
 
             if (getDataLayout(name, data_layouts) == DATA_LAYOUT_NHWC)
                 axis = toNCHW(axis);
+            else if (getDataLayout(name, data_layouts) == DATA_LAYOUT_NDHWC)
+                axis = toNCDHW(axis);
             layerParams.set("axis", axis);
 
             // input(0) or input(n-1) is concat_dim
diff --git a/modules/dnn/test/test_tf_importer.cpp b/modules/dnn/test/test_tf_importer.cpp
index 1f95dcfa2a..642b5158b1 100644
--- a/modules/dnn/test/test_tf_importer.cpp
+++ b/modules/dnn/test/test_tf_importer.cpp
@@ -217,6 +217,21 @@ TEST_P(Test_TensorFlow_layers, concat_axis_1)
     runTensorFlowNet("concat_axis_1");
 }
 
+TEST_P(Test_TensorFlow_layers, concat_3d)
+{
+    if (backend == DNN_BACKEND_OPENCV && target != DNN_TARGET_CPU)
+    {
+        if (target == DNN_TARGET_OPENCL_FP16) applyTestTag(CV_TEST_TAG_DNN_SKIP_IE_OPENCL_FP16);
+        if (target == DNN_TARGET_OPENCL)      applyTestTag(CV_TEST_TAG_DNN_SKIP_IE_OPENCL);
+    }
+
+    if ((backend == DNN_BACKEND_INFERENCE_ENGINE_NGRAPH ||
+         backend == DNN_BACKEND_INFERENCE_ENGINE_NN_BUILDER_2019) && target == DNN_TARGET_MYRIAD)
+        applyTestTag(CV_TEST_TAG_DNN_SKIP_IE_MYRIAD, CV_TEST_TAG_DNN_SKIP_IE_NGRAPH, CV_TEST_TAG_DNN_SKIP_IE_NN_BUILDER);
+
+    runTensorFlowNet("concat_3d");
+}
+
 TEST_P(Test_TensorFlow_layers, batch_norm_1)
 {
     runTensorFlowNet("batch_norm");