Since invisibility cloaks were first suggested by transformation optics theory, there has been much work on the theoretical analysis and design of various types and a few experimental verifications at microwave and optical frequencies within two-dimensional limits. Here, we realize the first practical implementation of a fully 3D broadband and low-loss ground-plane cloak at microwave frequencies. The cloak, realized by drilling inhomogeneous holes in multi-layered dielectric plates, can conceal a 3D object located under a curved conducting plane from all viewing angles by imitating the reflection of a flat conducting plane. We also designed and realized, using non-resonant metamaterials, a high-gain lens antenna that can produce narrow-beam plane waves in the near-field region in a broad frequency band. The antenna constitutes the transmitter of the measurement system and is essential for the measurement of cloaking behaviour.