Aiming at the poor performance of adaptive routing strategy and the imperfect fault tolerant mechanism in 3D NoC, the study proposes a perceptually fault-tolerant routing algorithm with turn balanced. Firstly, the XY, XZ and YZ are divided into the odd and even planes and six different forbidden turn directions are established on the row and column to get a more balanced turn model. Then, the horizontal and vertical boundary and internal link fault classification design fault model and fault-tolerant bypass. Finally, the proposed turn and fault model is applied to the routing algorithm combined with the strategy of “full plane 1 hop look-ahead” to improve network performance and fault tolerance. The experimental results show that the proposed algorithm improves throughput by 16.2% and transmission delay by 3.6% when no link failure occurs, and decreases transmission delay by 11.8% at lower link failure rate. With the link failure rate increased, this algorithm still has advantages.