As an important part of urban big data, traffic flow data play a critical role in traffic management and emergency response. Traffic flow data contain multi-mode characteristics, which need to be deeply mined. To make full use of multi-mode characteristics, we use a 3-order tensor to represent the traffic flow data, considering “temporal-spatial-periodic” characteristics. To recover the missing data of traffic flow, we propose the Missing Data Completion Algorithm Based on Residual Value Tensor Decomposition (MDCA-RVTD), which combines linear regression, univariate spline, and CP decomposition. Then, we predict the future traffic flow data by using the proposed Traffic Flow Prediction Algorithm Based on Data Completion Strategy (TFPA-DCS). The experimental results show that recovering the missing data is helpful in improving the prediction accuracy. Additionally, the prediction accuracy of the proposed Algorithm is better than gray model and traditional tensor CP decomposition method.