Existing decoding algorithms encounter difficulties in recognizing quick response (QR) codes with complex three-dimensional (3D) distortions (e.g., cylindrical distortion), resulting in the inability to extract data. In this paper, we propose a low-cost and efficient restoration algorithm for 3D cylindrically distorted QR codes. The proposed algorithm is composed of three stages. First, it restores a cylindrically distorted QR code in 3D real-world coordinates by inverse perspective transformation; then the distorted QR code is flattened in 3D real-world coordinates. Finally, the restored QR code is obtained by perspective transformation with the same hyperparameters as those in the first stage. The experimental results demonstrate that the proposed algorithm can handle different cylindrically distorted QR codes and work with only a small number of hyperparameters based on the camera’s internal parameters.