Aiming at insufficient robustness of depth map in multi-view 3D video with depth format, a 3D robust video watermarking algorithm based on depth map was proposed. Firstly, a depth map was divided into 4×4 nonoverlapped blocks, the mean square error of each block of pixels was calculated, and a threshold was set to distinguish the texture block and the flat block. Secondly, the block energy value of the texture block was calculated, and a threshold was set according to the calculated result to selectively embed the watermark bits. Finally, the transformed and quantized DC coefficients of each block were obtained and used to construct a 3×3 invertible matrix, then QR decomposition was performed on the invertible matrix and the watermark was embedded in the decomposed Q matrix. The proposed algorithm guarantees that the average Peak Signal to Noise Ratio (PSNR) is a constant, and the average Bit Error Rate (BER) under re-encoding attack with different Quantization Parameter (QP) values (25, 30, 35, 40) is 14.9%. Experimental results show that the algorithm has good robustness and embedding capacity, and has little impact on the quality of video.