The lack of understanding of the azimuthal instability and the resulting electron anomalous transport limits further improvement of Hall thrusters. Compared to theoretical and experimental approaches, the numerical particle-in-cell (PIC) simulation is a suitable and powerful tool, which has been widely applied to investigate the azimuthal instability, and great progress has been made in the past decades. However, PIC simulations are intrinsically computationally expensive, and it is realized that the Hall thruster azimuthal instability has a three dimensional nature. Therefore, massive 3D PIC simulation must be carried out to completely reveal the mechanism of the instability. In this paper, the effect of plasma initialization on 3D PIC simulation of Hall thruster azimuthal instability is studied as a starting point. It is found that by initializing with ion density and velocity fitting functions to the steady-state simulation results, a faster convergence can be obtained and the computational time can be reduced by about 1.5 times. Typical fitting functions of ion density, drifting velocity, and temperature are given, and the influence of different initialization profiles is presented.