Issues of fairness and consistency in Taekwondo poomsae evaluation have emerged owing to the lack of an objective evaluation method. This study proposes a three-dimensional (3D) convolutional neural network (CNN)-based action recognition model for the objective evaluation of Taekwondo poomsae. The model exhibits robust recognition performance regardless of variation in perspective by reducing the discrepancies between training and test images. The model uses 3D skeletons of the poomsae unit action collected using a full-body motion-capture suit to generate synthesized two-dimensional (2D) skeletons from the desired perspective. This approach aids in obtaining 2D skeletons from diverse perspectives as part of the training dataset and ensures consistent recognition performance regardless of the viewpoint. The model was trained using 2D skeletons projected from diverse viewpoints, and its performance was evaluated using various test datasets, including projected 2D skeletons and RGB images captured from various viewpoints. Comparison of the performance of the proposed model with that of previously reported action recognition models demonstrated the superiority of the model, underscoring its effectiveness in recognizing and classifying Taekwondo poomsae actions.