Imaging systems with miniaturized device footprint, real‐time processing speed, and high‐resolution 3D visualization are critical to broad biomedical applications such as endoscopy. Most of existing imaging systems rely on bulky lenses and mechanically refocusing to perform 3D imaging. Here, GEOMScope, a lensless single‐shot 3D microscope that forms image through a single layer of thin microlens array and reconstructs objects through an innovative algorithm combining geometrical‐optics‐based pixel back projection and background suppressions, is demonstrated. The effectiveness of GEOMScope is verified on resolution target, fluorescent particles, and volumetric objects. Comparing to other widefield lensless imaging devices, the required computational resource is significantly reduced, and the reconstruction speed is increased by orders of magnitude. This enables to image and recover large volume 3D object in high resolution with near real‐time processing speed. Such a low computational complexity is attributed to the joint design of imaging optics and reconstruction algorithms, and a joint application of geometrical optics and machine learning in the 3D reconstruction. More broadly, the excellent performance of GEOMScope in imaging resolution, volume, and reconstruction speed implicates that geometrical optics can greatly benefit and play an important role in computational imaging.