For any pair of edges $e,f$ of a graph $G$, we say that {\em $e,f$ are $P_3$-connected in $G$} if there exists a sequence of edges $e=e_0,e_1,\ldots, e_k=f$ such that $e_i$ and $e_{i+1}$ are two edges of an induced $3$-vertex path in $G$ for every $0\leq i\leq k-1$. If every pair of edges of $G$ are $P_3$-connected in $G$, then $G$ is {\em $P_3$-connected}. $P_3$-connectivity was first defined by Chudnovsky et al. in 2024 to prove that every connected graph not containing $P_5$ as an induced subgraph has cop number at most two. In this paper, we give a characterization of $P_3$-connected graphs and prove that a simple graph is $P_3$-connected if and only if it is connected and has no homogeneous set whose induced subgraph contains an edge.