Digital microfluidics (DMF) has garnered considerable interest as a straightforward, rapid, and programmable technique for controlling microdroplets in various biological, chemical, and medicinal research disciplines. This study details the construction of compact and low-cost 3D DMF platforms with programmable contact charge electrophoresis (CCEP) actuations by employing electrode arrays composed of a small commercial pin socket and a 3D-printed housing. We demonstrate basic 3D droplet manipulation on the platform, including horizontal and vertical transport via lifting and climbing techniques, and droplet merging. Furthermore, phenolphthalein reaction and precipitation process are evaluated using the proposed 3D DMF manipulations as a proof of concept for chemical reaction-based analysis and synthesis. The threshold voltage (or electrical field) and maximum vertical transport velocity are quantified as a function of applied voltage and electrode distance to determine the CCEP actuation conditions for 3D droplet manipulations. The ease of manufacturing and flexibility of the proposed 3D DMF platform may provide an effective technique for programmable 3D manipulation of droplets in biochemical and medical applications, such as biochemical analysis and medical diagnostics.