Ricochet of a tungsten heavy alloy long-rod projectile from oblique steel plates with a finite thickness was investigated numerically using a full three-dimensional explicit finite element method. Three distinctive regimes resulting from oblique impact depending on the obliquity, namely simple ricochet, critical ricochet and target perforation, were investigated in detail. Critical ricochet angles were calculated for various impact velocities and strengths of the target plates. It was predicted that critical ricochet angle increases with decreasing impact velocities and that higher ricochet angles were expected if higher strength target materials are employed. Numerical predictions were compared with existing two-dimensional analytical models. Experiments were also carried out and the results supported the predictions of the numerical analysis.