Recently, deep reinforcement learning (DRL) for metasurface design has received increased attention for its excellent decision-making ability in complex problems. However, time-consuming numerical simulation has hindered the adoption of DRL-based design method. Here we apply the Deep learning-based virtual Environment Proximal Policy Optimization (DE-PPO) method to design the 3D chiral plasmonic metasurfaces for flexible targets and model the metasurface design process as a Markov decision process to help the training. A well trained DRL agent designs chiral metasurfaces that exhibit the optimal absolute circular dichroism value (typically, ∼ 0.4) at various target wavelengths such as 930 nm, 1000 nm, 1035 nm, and 1100 nm with great time efficiency. Besides, the training process of the PPO agent is exceptionally fast with the help of the deep neural network (DNN) auxiliary virtual environment. Also, this method changes all variable parameters of nanostructures simultaneously, reducing the size of the action vector and thus the output size of the DNN. Our proposed approach could find applications in efficient and intelligent design of nanophotonic devices.