  Through a systematic symmetry and topology analysis we establish that
three-dimensional chiral superconductors with strong spin-orbit coupling and
odd-parity pairing generically host low-energy nodal quasiparticles that are
spin-non-degenerate and realize Majorana fermions in three dimensions. By
examining all types of chiral Cooper pairs with total angular momentum $J$
formed by Bloch electrons with angular momentum $j$ in crystals, we obtain a
comprehensive classification of gapless Majorana quasiparticles in terms of
energy-momentum relation and location on the Fermi surface. We show that the
existence of bulk Majorana fermions in the vicinity of spin-selective point
nodes is rooted in the non-unitary nature of chiral pairing in
spin-orbit-coupled superconductors. We address experimental signatures of
Majorana fermions, and find that the nuclear magnetic resonance (NMR) spin
relaxation rate is significantly suppressed for nuclear spins polarized along
the nodal direction as a consequence of the spin-selective Majorana nature of
nodal quasiparticles. Furthermore, Majorana nodes in the bulk have nontrivial
topology and imply the presence of Majorana bound states on the surface that
form arcs in momentum space. We conclude by proposing the heavy fermion
superconductor PrOs$_4$Sb$_{12}$ and related materials as promising candidates
for non-unitary chiral superconductors hosting three-dimensional Majorana
fermions.
