The nonlinear propagation of 3-D cylindrical dust-acoustic (DA) solitary waves in an unmagnetized dusty plasma system consisting of mobile adiabatic positively charged dust (PCD) grains, nonthermal ions, and electrons is investigated. The basic properties of nonlinear DA solitary structures, which exist in such a warm dusty plasma medium, are studied. The ( <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$3+1$</tex-math> </inline-formula> )-dimensional cylindrical Kadomstev–Petviashvili equation (cKPE) (also known as cylindrical Korteweg-de Vries (KdV) equation) is derived by using the reductive perturbation method (RPM). The possible region of the formation of solitons is shown. The effects of different plasma parameters (viz., the nonthermal parameter, the dust-to-ion temperature ratio, the ion-to-dust number density ratio, etc.) on the characteristics of the DA solitary waves are studied, and also the graphical representation of the cylindrical DA solitary structures is presented. The polarity of DA solitary waves changes with different plasma parameters (viz., the ion-to-electron temperature ratio, the nonthermality of ions and electrons, the ion-to-dust number density, etc.). These results may improve our understanding of DA solitary structures in space and laboratory plasma devices where nonthermal dusty plasma occurs.