The traditional Saint-Venant problem of three-dimensional viscoelasticity is discussed under the Hamiltonia system with the use of the Laplace integral transformation, and the original problem is transformed into finding eigenvalues and eigenvectors of the Hamiltonia operator matrix. Since local effect near the boundary is usually neglected, all solutions of Saint-Venant problems can be obtained directly by the combinations of zero eigenvectors. Moreover, the adjoint relationships of the symplectic orthogonality of zero eigenvectors in the Laplace domain are generalized to the time domain. Therefore the problem can be discussed directly in the eigenvector space of the time domain, and the iterative application of Laplace transformation is not needed. Simply by applying the adjoint relationships of the symplectic orthogonality, an effective method for boundary condition is given. Based on this method, some typical examples are discussed, in which the whole character of total creep and relaxation of viscoelasticity is clearly revealed.