The anisotropy of the spin-orbit interaction (SOI) is studied for a single uncapped InAs self-assembled quantum dot holding just a few electrons. The SOI energy is evaluated from anticrossing or SOI-induced hybridization between the ground and excited states with opposite spins. The magnetic angular dependence of the SOI energy falls on an absolute cosine function for azimuthal rotation, and a cosinelike function for tilting rotation. Furthermore, the SOI energy is quenched for a specific magnetic field vector. The angular dependence of SOI is found to compare well with calculation of Rashba SOI in a two-dimensional harmonic potential.