This paper proposes a novel three-dimensional oscillating pendulum wave energy converter (WEC) that integrates an oscillating float dock station. The device captures wave energy by utilizing both the pitch and roll motions of its primary float and the pendular motion of a buoy. A time-domain analysis method is used to numerically evaluate the hydrodynamic behavior and energy conversion efficiency of the WEC. In ANSYS AQWA, a multi-cantilever WEC model is employed to address the fluid-solid coupling, calculating the device’s motion response and capturing the width ratio under various environmental conditions. Additionally, by modifying key geometric parameters including float radius, length, and cantilever angle, the study examines the rotation at the articulation point and the capture width ratio variation for different device configurations. Results indicate that the device achieves a maximum capture width ratio at a float radius of approximately 120 mm under T = 1.4 s, and a 130 mm for wave periods of 1.5 s and 1.6 s. The highest average capture width ratio is reached at a power take-off (PTO) damping coefficient of 400 N·s/m. The study further investigates the effect of cantilever angle and float length, aiding in the optimization of these geometric parameters.