Sixth-order series expansions for the free energy and the staggered susceptibility of a spin-1 Heisenberg antiferromagnet with easy-plane single-ion anisotropy on three-dimensional bipartite lattices have been calculated from the linked-cluster series expansion. We obtain accurate estimate of T N vs D phase diagram separating paramagnetic and planar antiferromagnetic phases. The critical point and critical exponent of the quantum phase transition occurring at T = 0 are also determined. The results are compared with related works.