We perform a non-perturbative determination of the improvement coefficient c A to remove O(a) discretization errors in the axial vector current in three-flavor lattice QCD with the Iwasaki gauge action and the standard O(a)-improved Wilson quark action. An improvement condition with a good sensitivity to c A is imposed at constant physics. Combining our results with the perturbative expansion, c A is now known rather precisely for a −1 1.6 GeV.