In nearly all current systems, user authentication mechanism is one time and static. Although such type of user authentication is sufficient for many types of applications, in some scenarios, continuous or periodic re-verification of the identity is desirable, especially in high-security application. In this paper, we study user authentication based on 3D foot motion, which can be suitable for periodic identity re-verification purposes. Three-directional (3D) motion of the foot (in terms of acceleration signals) is collected using a wearable accelerometer sensor attached to the ankle of the person. Ankle accelerations from three directions (up-down, forward-backward and sideways) are analyzed for person authentication. Applied recognition method is based on detecting individual cycles in the signal and then finding best matching cycle pair between two acceleration signals. Using experimental data from 30 subjects, obtained EERs (Equal Error Rates) were in the range of 1.6-23.7% depending on motion directions and shoe types. Furthermore, by combining acceleration signals from 2D and 3D and then applying fusing techniques, recognition accuracies could be improved even further. The achieved performance improvements (in terms of EER) were up to 68.8%.