Because of the widespread presence of antibiotics in water, soil, and other environments, they pose great potential risks to the environment, threatening human and animal health. In this study, graphene oxide-kaolinite homogeneous dispersion was prepared by simple liquid phase exfoliation. The three-dimensional (3D) porous graphene oxide-kaolinite-poly(vinyl alcohol) composites were prepared by the cross-linking of poly(vinyl alcohol) and the formation of ice crystals during the freezing-drying process. Three influencing factors [adsorbent dosage, ciprofloxacin (CIP) initial concentration, and time] of CIP adsorption and removal were systematically analyzed by the response surface method. The order of significance for response values (CIP removal rate) was adsorbent dosage > CIP initial concentration > time. The 3D porous material showed good adsorption capacity of CIP, the theoretical maximum adsorption capacity was 408.16 mg/g, and it had good recyclability. By Fourier transform infrared (FTIR) and X-ray photoelectron spectroscopy analysis, it was found the composite adsorbs CIP by hydrogen bonding and π-π interaction. In conclusion, the graphene oxide-kaolinite-poly(vinyl alcohol) porous composite is a good candidate for efficient antibiotic wastewater treatment.