In this paper, we present a nonmechanical three-dimensional beam steering system using electrowetting based liquid lens and liquid prism. The optical design for the radius of curvature of the liquid lens and the tilting angle of the liquid prism was modeled with Zemax and three-dimensional beam steering was simulated. The liquid lens from Corning-Varioptic was used and the focal length of the lens was varied depending on the applied voltage. Cuboid-shaped chamber of the liquid prism was fabricated with glasses and two immiscible liquids whose densities are the same were injected into the fabricated chamber. The apex angle of the liquid prism and beam steering on the x-axis, y-axis, and xy-axis were measured by changing the applied voltages on the four sidewalls of the liquid prism. The light spot passing through the liquid lens and liquid prism was measured and the calculated beam steering angle was 11.6 degrees to 12.0 degrees. The effects of gravity on the shape and apex angle of the liquid prism were also measured by rotating the sample. Nonmechanical three-dimensional beam steering control including the z-axis direction was demonstrated by combining the electrowetting based liquid lens and liquid prism.