This paper seeks to clarify the weld pool formation process in plasma keyhole arc welding (PKAW). We adopted, for the first time, the measurement of the 3D convection inside the weld pool in PKAW by stereo synchronous imaging of tungsten tracer particles using two sets of x-ray transmission systems. The 2D convection on the weld pool surface was also measured using zirconia tracer particles. Through these measurements, the convection in a wide range of weld pools from the vicinity of the keyhole to the rear region was successfully visualized. In order to discuss the heat transport process in a weld pool, the 2D temperature distribution on the weld pool surface was also measured by two-color pyrometry. The results of the comprehensive experimental measurement indicate that the shear force due to plasma flow is found to be the dominant driving force in the weld pool formation process in PKAW. Thus, heat transport in a weld pool is considered to be governed by two large convective patterns near the keyhole: (1) eddy pairs on the surface (perpendicular to the torch axis), and (2) eddy pairs on the bulk of the weld pool (on the plane of the torch). They are formed with an equal velocity of approximately 0.35 m s−1 and are mainly driven by shear force. Furthermore, the flow velocity of the weld pool convection becomes considerably higher than that of other welding processes, such as TIG welding and GMA welding, due to larger plasma flow velocity.