In this paper, a three-dimensional (3d) magneto-hydro-dynamic (MHD) model of axial magnetic field vacuum arcs (AMFVAs) is established. Based on this model, AMFVAs are simulated and analyzed. Three-dimensional spatial distributions of many important plasma parameters and electric characteristics in AMFVAs can be obtained, such as ion number density, ion temperature, electron temperature, plasma pressure, current densities along different directions (x, y, and z), ion velocities along different directions, electric fields strength along different directions, and so on. Simulation results show that there exist significant spiral-shaped rotational phenomena in the AMFVAs, this kind of rotational phenomenon also can be verified by the many related experiments (AMFVAs photographs, especially for stronger AMF strength). For current simulation results of AMFVAs, the maximal rotational velocity at anode side is about 1100 m/s. Radial electric field is increased from arc center to arc edge; axial electric field is decreased from cathode side to anode side. Radial electric field at arc edge can be larger than axial electric field. Azimuthal electric field in most regions is much smaller than radial and axial electric field, but it can reach about 1.19 kV/m. Radial magnetic field is the smallest one compared with other components, it reaches to maximum value at the position near to anode, it can influence arc characteristics.