We revisit the secular 3D planetary three-body problem, aiming to provide a unified formalism representing all basic phenomena in the phase space as the mutual inclination between the planetary orbits increases. We propose a ‘book-keeping’ technique allowing to decompose the Hamiltonian as $$\mathcal {H}_\textrm{sec}=\mathcal {H}_\textrm{planar}+\mathcal {H}_\textrm{space}$$
H
sec
=
H
planar
+
H
space
, with $$\mathcal {H}_\textrm{space}$$
H
space
collecting all terms depending on the planets mutual inclination $$i_\textrm{mut}$$
i
mut
. We numerically compare several models obtained by multipole (Legendre) or Laplace–Lagrange expansions of $$\mathcal {H}_\textrm{sec}$$
H
sec
, aiming to define suitable truncation orders for these models. We explore the transition, as $$i_\textrm{mut}$$
i
mut
increases, from a ‘planar-like’ to a ‘Lidov–Kozai’ regime. Using a numerical example far from hierarchical limits, we find that the structure of the phase portraits of the (integrable) planar case is reproduced to a large extent also in the 3D case. A semi-analytical criterion allows to estimate the level of $$i_\textrm{mut}$$
i
mut
up to which the dynamics remains nearly integrable. We propose a normal form method to compute the basic periodic orbits (apsidal corotation orbits A and B) in this regime. We explore the sequence of saddle-node and pitchfork bifurcations by which the A and B families are connected to the highly inclined periodic orbits of the Lidov–Kozai regime. Finally, we perform a numerical study of phase portraits for different planetary mass and distance ratios and qualitatively describe the approach to the corresponding hierarchical limits.