We use numerically exact diagonalization to calculate the spin-orbit and phonon-induced triplet-singlet relaxation rate in a two-electron quantum dot exposed to a tilted magnetic field. Our scheme includes a three-dimensional description of the quantum dot, the Rashba and the linear and cubic Dresselhaus spin-orbit coupling, the ellipticity of the quantum dot, and the full angular description of the magnetic field. We are able to find reasonable agreement with the experimental results of Meunier et al. [Phys. Rev. Lett. 98, 126601 (2007)] in terms of the singlet-triplet energy splitting and the spin relaxation rate, respectively. We analyze in detail the effects of the spin-orbit factors, magnetic-field angles, and the dimensionality, and discuss the origins of the remaining deviations from the experimental data.