We propose a trellis-coded chaotic modulation scheme employing the symbolic dynamics generated by three-dimensional chaotic flows. The continuous chaotic trajectories are discretized using a labeled partition of a Poincare section. The discrete dynamics is modeled by a graph representing the evolution mechanism of the chaotic trajectories according to the restrictions imposed by the chaotic flow. This graph is employed to design finite-state encoders to transmit binary information sequences using the restricted discrete chaotic dynamics. We show that the proposed system outperforms a recently proposed trellis-coded chaotic modulation scheme.