Before Wolfenstein 3D (1992) there was already Rescue on Fractalus! (1985) for the Atari 8-bit computer and 5200 console. I remember playing a pre-release titled "Behind Jaggi Lines" in a reference to aliased edges. The Eidolon was a first-person shooter (but not fast paced) that released in Dec the same year.
Honorable mention of The Driller (1987) on 8-bit home computers, that was proper 3D, just not very real-time
There was also Elite (1984) on 8-bit home computers that was proper 3D and fairly real-time. The graphics were monochrome wire-frame with hidden line removal.