Semi-supervised learning has attracted wide attention from many researchers since its ability to utilize a few data with labels and relatively more data without labels to learn information. Some existing semi-supervised methods for medical image segmentation enforce the regularization of training by implicitly perturbing data or networks to perform the consistency. Most consistency regularization methods focus on data level or network structure level, and rarely of them focus on the task level. It may not directly lead to an improvement in task accuracy. To overcome the problem, this work proposes a semi-supervised dual-task consistent joint learning framework with task-level regularization for 3D medical image segmentation. Two branches are utilized to simultaneously predict the segmented and signed distance maps, and they can learn useful information from each other by constructing a consistency loss function between the two tasks. The segmentation branch learns rich information from both labeled and unlabeled data to strengthen the constraints on the geometric structure of the target. Experimental results on two benchmark datasets show that the proposed method can achieve better performance compared with other state-of-the-art works. It illustrates our method improves segmentation performance by utilizing unlabeled data and consistent regularization.