When using the typical 3D plot like so:
from mpl_toolkits.mplot3d import Axes3D
import matplotlib.pyplot as plt
fig = plt.figure()
ax = fig.gca(projection=\
If this is only about actually using the import at least once, you can do
ax = fig.gca(projection=Axes3D.name)
as "3d" is the name of the Axes3D class by which it is registered to the projection list.
from mpl_toolkits.mplot3d import Axes3D
import matplotlib.pyplot as plt
fig = plt.figure()
ax = Axes3D(fig)
However, if I understand the documentation well, it is not the preferred way anymore since version 1.0.0. I still mention it for completeness.