Nonuniform structure of low-density nuclear matter, known as nuclear pasta, is expected to appear not only in the inner crust of neutron stars but also in core-collapse supernova explosions and neutron-star mergers. We perform fully three-dimensional calculations of inhomogeneous nuclear matter and neutron-star matter in the low-density region using the Thomas-Fermi approximation. The nuclear interaction is described in the relativistic mean-field approach with the point-coupling interaction, where the meson exchange in each channel is replaced by the contact interaction between nucleons. We investigate the influence of nuclear symmetry energy and its density dependence on pasta structures by introducing a coupling term between the isoscalar-vector and isovector-vector interactions. It is found that the properties of pasta phases in the neutron-rich matter are strongly dependent on the symmetry energy and its slope. In addition to typical shapes like droplets, rods, slabs, tubes, and bubbles, some intermediate pasta structures are also observed in cold stellar matter with a relatively large proton fraction. We find that nonspherical shapes are unlikely to be formed in neutron-star crusts, since the proton fraction obtained in $\beta$ equilibrium is rather small. The inner crust properties may lead to a visible difference in the neutron-star radius.