In this paper, we investigate the vanishing viscosity limit of the 3D incompressible micropolar equations in bounded domains with boundary conditions. It is shown that there exist global weak solutions of the micropolar equations in a general bounded smooth domain. In particular, we establish the uniform estimate of the strong solutions for when the boundary is flat. Furthermore, we obtain the rate of convergence of viscosity solutions to the inviscid solutions as the viscosities tend to zero (i.e., (ε,χ,γ,κ) → 0).