In this paper, a novel robust beamforming scheme is proposed in three dimensional multi-input multi-output (3D-MIMO) systems. As one of the typical deployments of massive MIMO, a 3D-MIMO system owns sparse channels in angular domain. Thus, various of sparse channel estimation algorithms produce sparse channel estimation errors which can be utilized to narrow down the perturbation region of imperfect CSI. We investigate a $l_1$-norm bounded channel uncertainty model for the robust beamforming problems, which captures the sparse nature of channel errors. Compared with the conventional spherical uncertainty, we prove that the scheme with $l_1$-norm bounded uncertainty consumes less beamforming power with the same signal to interference and noise ratio (SINR) thresholds. The proposed scheme is reformulated as a second-order cone programming (SOCP) and simulation results verify the effectiveness of our algorithm.