Proper understanding of how the Earth’s mass distributions and redistributions influence the Earth’s gravity field-related functionals is crucial for numerous applications in geodesy, geophysics and related geosciences. Calculations of the gravitational curvatures (GC) have been proposed in geodesy in recent years. In view of future satellite missions, the sixth-order developments of the gradients are becoming requisite. In this paper, a set of 3D integral GC formulas of a tesseroid mass body have been provided by spherical integral kernels in the spatial domain. Based on the Taylor series expansion approach, the numerical expressions of the 3D GC formulas are provided up to sixth order. Moreover, numerical experiments demonstrate the correctness of the 3D Taylor series approach for the GC formulas with order as high as sixth order. Analogous to other gravitational effects (e.g., gravitational potential, gravity vector, gravity gradient tensor), numerically it is found that there exist the very-near-area problem and polar singularity problem in the GC east–east–radial, north–north–radial and radial–radial–radial components in spatial domain, and compared to the other gravitational effects, the relative approximation errors of the GC components are larger due to not only the influence of the geocentric distance but also the influence of the latitude. This study shows that the magnitude of each term for the nonzero GC functionals by a grid resolution 15′×\documentclass[12pt]{minimal}
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\begin{document}$$^{{\prime }}$$\end{document} at GOCE satellite height can reach of about 10-16\documentclass[12pt]{minimal}
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\begin{document}$$^{2}$$\end{document} for second order, 10-29\documentclass[12pt]{minimal}
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\begin{document}$$^{2}$$\end{document} for fourth order and 10-35\documentclass[12pt]{minimal}
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\begin{document}$$^{2}$$\end{document} for sixth order, respectively.
