Striation and kerf taper are two main defects of abrasive water jet cutting. Improving these two defects will help in improving the cutting quality. Firstly, the nozzle tilt cutting method for striation improvement and the nozzle tilt cutting method for kerf taper improvement were analyzed in this paper. On this basis, by integrating these two methods, the method of 3D nozzle tilt cutting was proposed. The characteristics of the method were analyzed based on experiments. Finally, the effect of the method of 3D nozzle tilt cutting on cutting quality was experimented. The results show that the method can improve the striation and the kerf taper simultaneously under the premise of keeping the cutting efficiency unchanged, which greatly improved the quality of abrasive water jet cutting.