Heat waves are among the most studied atmospheric hazards but commonly investigated near-surface temperature patterns provide only limited insight into their complex structure. Here we propose and evaluate a novel approach to the analysis of heat waves as three-dimensional (3D) phenomena, employing the ERA5 reanalysis in three European regions during 1979–2022. Four types of heat waves based on their vertical cross sections of temperature anomalies are introduced: near-surface, lower-tropospheric, higher-tropospheric, and omnipresent. The individual heat wave types differ in length, predominant occurrence within summer, and soil moisture preconditioning. While near-surface heat waves may persist for more than 2 weeks, those located mainly in higher troposphere are shortest (5 days at most). This demonstrates that warm advection must be accompanied by a downward propagation of positive temperature anomalies through air subsidence and diabatic heating to maintain long-lasting heat waves. We also show that soil-moisture preconditioning is crucial for near-surface heat waves only, thus pointing to different driving mechanisms for the individual 3D heat wave types.