A three-dimensional (3D) full-range complex Fourier domain optical coherence tomography (FDOCT) system based on sinusoidal phase-modulating method is developed for vivo imaging of human skin. A complex spectral interferogram is retrieved based on Fourier transform analysis and bandpass filter of phase-modulated interference spectra, which is recorded with sinusoidal phase modulation introduced during lateral beam scanning. With the system, the depth imaging range is doubled and the signal-to-noise ratio degrading with the lateral scanning is avoided. Also the system is suitable for vivo imaging. 3D vivo full-range OCT images of human skin is achieved with the proposed system. In the images, the stratum corneum, the epidermis and the upper dermis can be clearly identified. By optimizing the sampling number in one modulation period, the complex conjugate rejection ratio is improved, which is about 36 dB.