This paper presents a method for analyzing three-dimensional curved rods of general shape without symmetric axes. In the analysis, the exact solutions of the equlibrium equations for three dimensional curved rods have been obtained first, then the transfer matrix has been derived based on the exact solution with consideration of inertia forces. The analytical equations for finding the eigenfrequencies and mode shapes have been given. Numerical calculations have been carried out for three dimensional circular, elliptical, and parabolic spiral rods of circular and square cross sections without symmetric axes.