Thrust magnetic bearings, which can regulate axial displacement of a rotor shaft, have been used for high speed rotation. However, conventional thrust magnetic bearings have many problems in manufacturing and assembling caused by a large disk rotor of itself. Therefore, in the previous paper, we proposed a 1-axis active control type thrust magnetic bearing with a cylindrical rotor instead of the large disk rotor. A cylindrical rotor, that has a small diameter as well as a simple shape, is used in the proposed thrust magnetic bearing. It is necessary to furthermore improve the proposed thrust magnetic bearing for practical use. Accordingly, this paper introduces a novel structure of a 3-axis active control type magnetic bearing with the cylindrical rotor. This novel magnetic bearing are characterized by integration of the proposed thrust magnetic bearing without the large disk rotor and the 2-axis active control type radial magnetic bearing. It is shown with 3D-FEA that the novel magnetic bearing is equipped with the sufficient performance.