In dentistry, determining position and orientation parameters for each tooth mostly based on orthodontic qualitative perception. There is no quantitative method to obtain those parameters in three dimensional (3D) images, especially in some complicated cases. This study proposed a quantitative approach for locating centroid of tooth position and also its frame axes orientation. Based on Cone Beam Computed Tomography (CBCT) x-ray images, a 3D model of teeth was obtained to visualise dental features. A few dental features were used to calibrate the location of centroid and identify tooth reference axes, or frames. Two definitions of centroid and frame axes were proposed for single root and for multiple roots of teeth. Based on these two definitions, the positions and orientations of each tooth were determined and evaluated. Teeth positions and orientations were obtained with respect to a reference axis, which is the CBCT coordinate system. Having a quantitative method to obtain position and orientation of tooth, especially in 3D, will help dental rehabilitation in many ways.