A time projection chamber (TPC) based on a gaseous chamber with micro-pixel electrodes (mu-PIC) has been developed for measuring three-dimensional tracks of charged particles. The mu-PIC with a detection area of 10 x 10 cm(2) consists of a double-sided printing circuit board. Anode pixels are formed with 0.4 mm pitch on strips aligned perpendicular to the cathode strips in order to obtain a two-dimensional position. In the TPC with drift length of 8 cm, 4 mm wide field cage electrodes are aligned at 1 mm spaces and a uniform electric field of about 0.4 kV/cm is produced. For encoding of the three-dimensional position a synchronous readout system has been developed using Field Programmable Gate Arrays with 40 MHz clock. This system enables us to reconstruct the three-dimensional track of the particle at successive points like a cloud chamber even at high event rate. The drift velocity of electrons in the TPC was measured with the tracks of cosmic muons for 3 days, during which the TPC worked stably with the gas gain of 3000. With a radioisotope of gamma-ray source the three-dimensional track of a Compton scattered electron was taken successfully. (C) 2003 Elsevier B.V. All rights reserved.