A novel algorithm is presented for estimating the 3-D location (azimuth angle, elevation angle, and range) of multiple sources with a uniform circular array (UCA). Based on its centrosymmetric property, a UCA is divided into two subarrays. The steering vectors for these subarrays then yield a 2-D direction of arrival (DOA)-related rotational invariance property in the signal subspace, which enables 2-D DOA estimations using a generalized-ESPRIT algorithm. Based on the estimated 2-D DOAs, a range estimation can then be obtained for each source by defining the 1-D MUSIC spectrum. Despite its low computational complexity, the proposed algorithm can almost match the performance of the benchmark estimator 3-D MUSIC.