Higher integrated density in 3D ICs also brings the difficulties of routing, which can cause the routing failure or re-design from beginning. Hence, precise congestion estimation at the early physical design stage such as floorplan is beneficial to reduce the total design time cost. In this paper, an effective estimation method of routing congestion is proposed for 3D ICs at floorplan stage. This method uses synthesized virtual signal nets, power/ground network and clock network to achieve the estimation. During the synthesis, the TSV location is also under consideration. The experiments indicate that our proposed method had small difference with the estimation result got at the post-placement stage. Furthermore, the comparison of congestion maps obtained with our method and global router demonstrates that our estimation method is able to predict the congestion hot spots accurately.