In this article, the authors demonstrate a rapid NMR method to measure a full three-dimensional diffusion tensor. This method is based on a multiple modulation multiple echo sequence and utilizes static and pulsed magnetic field gradients to measure diffusion along multiple directions simultaneously. The pulse sequence was optimized using a well-known linear inversion metric (condition number) and successfully tested on both isotropic (water) and anisotropic (asparagus) diffusion systems.