Three-dimensional (3D) porous graphene-based materials have displayed attractive electrochemical catalysis and sensing performances, benefiting from their high porosity, large surface area, and excellent electrical conductivity. In this work, a novel electrochemical sensor based on 3D porous reduced graphene (3DPrGO) and ion-imprinted polymer (IIP) was developed for trace cadmium ion (Cd(II)) detection in water. The 3DPrGO was synthesized in situ at a glassy carbon electrode (GCE) surface using a polystyrene (PS) colloidal crystal template and the electrodeposition method. Then, IIP film was further modified on the 3DPrGO by electropolymerization to make it suitable for detecting Cd(II). Attributable to the abundant nanopores and good electron transport of the 3DPrGO, as well as the specific recognition for Cd(II) of IIP, a sensitive determination of trace Cd(II) at PoPD-IIP/3DPrGO/GCE was achieved. The proposed sensor exhibited comprehensive linear Cd(II) responses ranging from 1 to 100 μg/L (R2 = 99.7%). The limit of detection (LOD) was 0.11 μg/L, about 30 times lower than the drinking water standard set by the World Health Organization (WHO). Moreover, PoPD-IIP/3DPrGO/GCE was applied for the detection of Cd(II) in actual water samples. The satisfying recoveries (97–99.6%) and relative standard deviations (RSD, 3.5–5.7%) make the proposed sensor a promising candidate for rapid and on-site water monitoring.