Herein, a 3D 13, 56 MHz (HF) RFID reader antenna is proposed in order to optimize detection performance whatever the tag angular positioning. The design is made of a multi-loop structure, based on serial complementary antennas, as said “twisted” antennas. The RFID tag detection is optimized by two factors which rely on the modifications of the magnetic field (i) vectorial distribution and (ii) magnitude density. The reader antenna design is analyzed with electromagnetic simulation under HFSS (High Frequency Electromagnetic Field Simulation), and validated by detection measurements, in coplanar mode. A multi-loop structure, composed by 4 sub-loops, is then conformed onto a tube surface to provide the 3D structure. The goal of this improvement is to provide tag detection for any angular positions. At the center of the tube (3D reader structure), the detection of the tag is performed whatever its angular orientation, that is to say for any radial orientation.