Thermal problem is an essential issue which must be taken Into account in the 3D Network-on-Chip NoC) design, because it has a great impact on not only the network performance, but also the reliability of the message transmission. Tn this work, we prescnt a fully adaptive runtime thermal-aware routing algorithm, which combines the distance, traffic state, path dhersity and the thermal impact in the path determination. By simultaneously considering all these factors, the routing algorithm can effectively balance the traffic load while keeping high adaptivity and routability, which also results in an even distribution of temperature across the network. Instead of collecting the topology information of the whole network, we utilize a 12 bits register to reserve the router state for one hop away, which saves the hardware cost largely and decreases the network latency. The simulation results show our proposed routing algorithm can improve the latency and energy consumption by comparing with other previously proposed thermal-aware routing schemes, and the improvement is more remarkable in large scale networks.