This paper presents an efficient hybrid asynchronous three-dimensional (3D) perfectly matched layer (PML) for modeling unbounded domains. The proposed unsplit explicit or implicit 3D PML formulation is implemented in the framework of a heterogeneous asynchronous time integrator. It is fully versatile in terms of time integrators and time step sizes according to partitions while conserving classical finite element formulations in the elastic domain without complex-valued stretched coordinates. Examples of a semi-infinite bar, Lamb’s test, and a soil–structure interaction problem with PML-truncated semi-infinite heterogeneous media are investigated to illustrate the efficiency of the proposed PML in terms of accuracy and CPU time.