Recent progress in the use of deep learning for Full Waveform Inversion (FWI) has demonstrated the advantage of data-driven methods over traditional physics-based approaches in terms of reconstruction accuracy and computational efficiency. However, due to high computational complexity and large memory consumption, the reconstruction of 3D high-resolution velocity maps via deep networks is still a great challenge. In this paper, we present InversionNet3D, an efficient and scalable encoder-decoder network for 3D FWI. The proposed method employs group convolution in the encoder to establish an effective hierarchy for learning information from multiple sources while cutting down unnecessary parameters and operations at the same time. The introduction of invertible layers further reduces the memory consumption of intermediate features during training and thus enables the development of deeper networks with more layers and higher capacity as required by different application scenarios. Experiments on the 3D Kimberlina dataset demonstrate that InversionNet3D achieves state-of-the-art reconstruction performance with lower computational cost and lower memory footprint compared to the baseline.