Properties of the turbulent cascade from fluid to kinetic scales in collisionless plasmas are investigated by means of large-size 3D hybrid (fluid electrons, kinetic protons) particle-in-cell simulations. Initially isotropic Alfvénic fluctuations rapidly develop a strongly anisotropic turbulent cascade, mainly in the direction perpendicular to the ambient magnetic field. The omnidirectional magnetic field spectrum shows a double power-law behavior over almost two decades in wavenumber, with a Kolmogorov-like index at large scales, a spectral break around ion scales, and a steepening at sub-ion scales. Power laws are also observed in the spectra of the ion bulk velocity, density, and electric field, at both magnetohydrodynamic (MHD) and kinetic scales. Despite the complex structure, the omnidirectional spectra of all fields at ion and sub-ion scales are in remarkable quantitative agreement with those of a 2D simulation with similar physical parameters. This provides a partial, a posteriori validation of the 2D approximation at kinetic scales. Conversely, at MHD scales, the spectra of the density and of the velocity (and, consequently, of the electric field) exhibit differences between the 2D and 3D cases. Although they can be partly ascribed to the lower spatial resolution, the main reason is likely the larger importance of compressible effects in the full 3D geometry. Our findings are also in remarkable quantitative agreement with solar wind observations.