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Millimeter-wave channel modeling is the basis of fifth-generation (5G) communication network design and applications. In urban microcellular environments, the roughness of wall surfaces can be comparable to the wavelengths of millimeter waves, resulting in walls that cannot be considered as smooth surfaces. Therefore, channel modeling methods based on only traditional three-dimensional ray tracing (RT) or the three-dimensional parabolic equation (PE) result in the limited computational accuracy of millimeter-wave channel models for urban environments. Based on the scattering theory of a rough surface and the typical scattering characteristics of a millimeter wave, the end field of the three-dimensional vector PE is regarded as the initial field of three-dimensional RT. Moreover, the number of scattered rays and scattering angles are introduced. Finally, a three-dimensional fully polarized millimeter-wave hybrid propagation channel model (3DFPHPCM) is proposed. The proposed model improves the computational accuracy of a single deterministic model. Millimeter-wave channel measurements in non-line-of-sight (NLOS) environments were carried out to verify and optimize the proposed 3DFPHPCM. The results show that the root mean square error (RMSE) and mean absolute error (MAE) of the proposed 3DFPHPCM are both minimized when compared to three-dimensional RT or the three-dimensional PE, which indicates that the proposed 3DFPHPCM has higher computational accuracy. Moreover, its runtime is the shortest among the methods. The results presented herein provide technical support for the layout of base stations. Full article