A time projection chamber (TPC) based on a gaseous chamber with micro pixel electrodes (micro-PIC) has been developed for measuring three-dimensional tracks of charged particles. The micro-PIC with a detection area of 10 cm square consists of a double-sided printing circuit board. Anode pixels are formed with 0.4 mm pitch on strips aligned perpendicular to the cathode strips in order to obtain a two-dimensional position. In the TPC with drift length of 8 cm, 4 mm wide field cage electrodes are aligned at 1mm spaces and a uniform electric field of about 0.4 kV/cm is produced. For encoding of the three-dimensional position a synchronous readout system has been developed using Field Programmable Gate Arrays with 40 MHz clock. This system enables us to reconstruct the three-dimensional track of the particle at successive points like a cloud chamber even at high event rate. The drift velocity of electrons in the TPC was measured with the tracks of cosmic muons for three days, during which the TPC worked stably with the gas gain of 3000. With a radioisotope of gamma-ray source the three-dimensional track of a Compton scattered electron was taken successfully.