TSV-based 3D-IC design can reduce the connection length of stacked ICs and enhance I/O bandwidth of heterogeneous integrated circuits. However the testing of 3D ICs is more complicated than that of 2D ICs. This paper presents an efficient on-chip 3D-IC test framework that can embed the test procedure of TSVs into the memory BIST process. By using the same test patterns generated from the memory BIST mechanism, the faults in both memories and TSVs can be detected simultaneously without extra time to test TSVs. The area overhead for on-chip testing can also be reduced significantly. Experimental results show that the proposed test framework can gain a good performance in test time reduction with very low area overhead penalty for a memory-logic stacked IC.