To establish a rapid method for the simultaneous differential detection of porcine circovirus types 2 (PCV2) and 3 (PCV3), two pairs of primers and two TaqMan probes were designed according to the gene sequences of PCV2 and PCV3, and a dual TaqMan fluorescence quantitative polymerase chain reaction (PCR) method for the simultaneous detection of two virus nucleic acids was established. The results showed that the correlation coefficients (R2) of the standard curves drawn using the recombinant plasmids of PCV2 and PCV3 were greater than 0.99 and had a good linear relationship. The specific detection results of PCV type 1, Porcine parvovirus, and Porcine pseudorabies virus were negative. The detection limits of this experimental method for PCV2 and PCV3 were 10 and 1 copies/μL, respectively, which were more sensitive than those of the common PCR detection methods. The established method was used to detect 76 samples from some pig farms in Shandong Province. 11 of the 76 samples were PCV3 positive (positive rate of 14.47%), 24 were PCV2 positive (positive rate of 34.58%), and PCV3 and PCV2 were mixed in six samples (positive rate of 7.89%). The whole-genome sequence of PCV3 was amplified and sequenced to further understand the molecular biological characteristics and genetic variation of PCV3 in Shandong Province. The genomes of 11 PCV3 strains were all 2000 bp long, and the whole-genome sequence homology between them ranged from 98.4% to 99.9%. There were mutation sites in the amino acid sequences of Cap and Rep proteins, and the strains isolated in this experiment were concentrated in the PCV3a and PCV3c subgroups. This study provides technical support and molecular biological basis for nucleic acid detection, epidemiological characteristics, genetic variation, and control of PCV3 in Shandong Province.