This paper presents a novel block-adaptive quantization scheme for efficient bit allocation without side information in depth map coding. Since the type of distortion in a depth map causes different effects in terms of the visual artifacts in a synthesized view, the proposed method adaptively assigns the number of bits according to the characteristics of the corresponding texture block. I have studied the details of the depth map and its rendered view distortion, modeled these analytically, and then proposed a new rate and distortion model for depth map coding. Finally, I derived a simple closed-form solution based on my proposed rate and distortion model, which determines the block-adaptive quantization parameter without any side information. Experimental results show that the proposed scheme can achieve coding gains of more than 0.6% and 1.4% for quarter- and full-resolution depth maps, respectively, in a multi-view-plus-depth 3D system.