Robots must often localize their positions in order to complete a task in multirobot system. Therefore, a Simple nonlandmark Three-Dimensional (3D) Localization (SLTL) method is proposed. Each robot was equipped with only a communication device having a certain communication range. Initially, each robot estimated its own position randomly, then each robot modified its position the basis of the received data. Every step was divided into two phases, the communication phase and modification phase. In communication phase, each robot obtained its neighbors‘estimated positions position and its second neighbors’ estimated positions. In modification phase afterwards, each robot modified its initial position based on received data for joints in communication, with application of virtual attractive force, repulsive force and wave force. Through many times of iteration, localization of robots were finally realized. Simulation results demonstrated that the proposed SLTL algorithm can effectively estimate the position of robot. In addition, there is an optimal communication range, in which the localization is extremely precise.