We characterize normal $3$-pseudomanifolds with $g_2\leq4$. We know that if a $3$-pseudomanifold with $g_2\leq4$ does not have any singular vertices then it is a $3$-sphere. We first prove that a normal $3$-pseudomanifold with $g_2\leq4$ has at most two singular vertices. Then we prove that a normal $3$-pseudomanifold with $g_2 \leq 4$, which is not a $3$-sphere is obtained from some boundary of $4$-simplices by a sequence of operations connected sum, edge expansion and an edge folding. In addition, by using [17], we re-framed the characterization of normal $3$-pseudomanifolds with $g_2\leq 9$, when it has no singular vertices.