Inertial microfluidics utilizes fluid inertia from high flow velocity to manipulate particles and fluids in 3D. Acquiring a 3D information of particle positions and complex flow patterns within microfluidic devices requires 3D imaging techniques such as confocal microscopy, which are often expensive and slow. Here, we report on a prism-mirror-embedded microfluidic device that allows simultaneous imaging of the top and side view of the microchannel for a high-speed, low-cost 3D imaging. The microprism mirrors are fabricated and integrated into a microfluidic system using conventional microfabrication techniques including wet etch and soft lithography. This inexpensive high quality prism mirror provides a highly reflective, smooth mirror surface with precise 45 degrees reflection angle, enabling 3D measurement of inertial migration of microparticles in a rectangular channel at speeds in excess of 10 000 frame/s.