We report visualization of three-dimensional domain structures in ferroelectric PbTiO3 (PTO) nanotubes (NTs) using piezoresponse force microscopy (PFM). The domain distributions of the x, y, and z-axes in PTO NTs were separately measured out-of and in-planes at angles of 0° and 90° by vertical and lateral PFM. The separately obtained PFM images were combined to reconstruct the complex domain structures based on some basic assumptions and finite element modeling. The cross-sectional domain configurations of the PTO NTs were visualized by the proposed approach. The results can provide insight into complex domain configurations of ferroelectric nanostructures.