The hybrid digital-analog (HDA) video transmission scheme can be used to avoid the cliff effect and saturation effect. However, directly using HDA in 3D video transmission requires too much bandwidth. This paper addresses synthesis-distortion-aware HDA transmission for 3D videos to improve transmission performance. First, a 3D HDA framework that transmits both texture and depth videos in HDA mode is designed. Second, a recursive synthesis distortion estimation model, called RSDE-3D-HDA, is derived, where the transmission errors of both the texture and depth sequences are considered. Third, we optimize the power allocation between digital and analog signals based on the RSDE-3D-HDA. Finally, simulation results show that our model is accurate and the proposed 3D-HDA achieves better performance in terms of synthesis quality than state-of-the-art methods. INDEX TERMS Hybrid digital-analog video transmission, distortion estimation, 3D video transmission, view synthesis.