A three-dimensional reduced graphene oxide nanomaterial with β-cyclodextrin modified glassy carbon electrode (3D-rGO/β-CD/GCE) was constructed and used to detect the electrochemical behavior of dopamine (DA). The nanocomposite materials were characterized by scanning electron microscopy (SEM), infrared spectrometry (FT-IR), Raman spectrogram and thermogravimetric analysis (TGA), which showed that β-CD was well modified on 3D graphene with a porous structure. The electrochemical properties of different modified electrodes were investigated by cyclic voltammetry (CV) and electrochemical impedance spectroscopy (EIS), proving the highest electron transfer rate of the 3D-rGO/β-CD modified electrode. The experimental conditions such as scan rate, pH, enrichment time and layer thickness were optimized. Under the best experimental conditions, DA was detected by differential pulse voltammetry (DPV) by 3D-rGO/β-CD/GCE with excellent electrocatalytic ability and satisfactory recognition ability, resulting in a wide linear range of 0.5–100 μM and a low detection limit (LOD) of 0.013 μM. The modified electrode based on 3D-rGO/β-CD nanocomposites is promising in the field of electrochemical sensors due to its high sensitivity and other excellent properties.