With the development of picosecond laser technology, the dual-phase-lagging (DPL) model is more suitable to describe the heat transfer problem with micro-scale effect and micro-time effect. In this paper, a three-dimensional dual-phase-lagging heat transfer model for picosecond laser processing is established. Then Fourier transform (FT) and Laplace transform (LT) are used to derive the frequency response functions (FRFs) of the problem in the frequency domain, and the inverse Laplace transform (ILT) and discrete-convolution fast Fourier transform (DC-FFT) algorithm are used to solve the temperature field. The calculation accuracy of this method is verified and the effect of phase lag constants on temperature field is studied. The results show that the semi-analytical method has a high accuracy for solving the dual-phase-lagging heat conduction model, and the phase lag of heat flux will affect the heating rate in the heating stage, and the phase lag of temperature gradient will delay the formation of temperature field. The effect of phase lag constants on temperature-time history is investigated and the related phenomena are explained by using the two-step heat transfer theory. This semi-analytical method provides a new approach to solve the problem of three-dimensional dual-phase-lagging heat transfer.