In this article we present a 3-dimensional analogue of a well-known theorem of Bombieri (Inst Hautes Etudes Sci Publ Math 42:171-219, 1973) which characterizes the bi-canonical birationality of surfaces of general type. Let X be a projective minimal threefold of general type with Q-factorial terminal singularities and the geometric genus p g (X ) ≥ 5. We show that the 4-canonical map ϕ 4 is not birational onto its image if and only if X is birationally fibred by a family C of irreducible curves of geometric genus 2 with K X · C 0 = 1 where C 0 is a general irreducible member in C .