Three-Dimensional (3D) Massive multiple-input-multiple-output (MIMO) is a new and impressive concept. The beamforming in elevation and azimuth domains can reduce computational complexity as well as improve bandwidth efficiency. In this paper, we consider the application of a 3D massive MIMO system to connect (Internet of Things) IoT edge network. 3D massive MIMO system can support multiple single-antenna IoT devices simultaneously using the same time-frequency resources. Furthermore, an improved regularized zero-forcing precoding for 3D massive MIMO systems has been proposed. The precoding scheme is specifically designed for single-cell systems with imperfect channel state information. We provide complete mathematical modelling for the proposed scheme. We compare our proposed scheme with conventional zero-forcing and regularized zero-forcing in a large antenna regime. We provide simulations for bandwidth efficiency with respect to different parameters such as the number of antennas, angular spread, and cumulative distribution function. The simulation results show that the proposed scheme performs better than conventional schemes in terms of achievable rates as the number of antenna increase. Our proposed scheme can help to connect maximum IoT devices with improved bandwidth efficiency