The flagellar wave originates from the 9+2 axoneme structure at the central core of the flagellum, where nine pairs of outer microtubule doublets are mechanically linked to a central pair. [2] The sequential sliding of the nine outer microtubules via dynein arms over the neighboring doublet bends the flagellum in 3D to produce a flagellar waveform. [3] This beating behavior is self-regulatory in nature, triggered by the combined activity of dynein motors. [3a,4] Several regulation mechanisms have been suggested to control the flagellar waveform in space and time including the local curvature-controlled dynein motor activity, [4,5] selective activation/deactivation of sliding microtubules due to transverse forces, [6] and regulation of dynein motor activity because of the sliding forces. [7] The resulting motion is 3D in nature, with the flagellar wave starting from the midpiece and traveling along a conical helix toward the end of the flagellum, causing the whole sperm body to counter-rotate. [8] Consequently, the flagellar waveform and sperm swimming path display helical, [5a,8a,c,9] twisted-planar, [8e] Sperm swim through the female reproductive tract by propagating a 3D flagellar wave that is self-regulatory in nature and driven by dynein motors. Traditional microscopy methods fail to capture the full dynamics of sperm flagellar activity as they only image and analyze sperm motility in 2D. Here, an automated platform to analyze sperm swimming behavior in 3D by using thinlens approximation and high-speed dark field microscopy to reconstruct the flagellar waveform in 3D is presented. It is found that head-tethered mouse sperm exhibit a rolling beating behavior in 3D with the beating frequency of 6.2 Hz using spectral analysis. The flagellar waveform bends in 3D, particularly in the distal regions, but is only weakly nonplanar and ambidextrous in nature, with the local helicity along the flagellum fluctuating between clockwise and counterclockwise handedness. These findings suggest a nonpersistent flagellar helicity. This method provides new opportunities for the accurate measurement of the full motion of eukaryotic flagella and cilia which is essential for a biophysical understanding of their activation by dynein motors.The ORCID identification number(s) for the author(s) of this article can be found under https://doi.org/10.1002/smtd.202101089.