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Plasma optics, promising for shaping and amplifying ultra-high-power laser pulses, are subject to the huge modulations and fluctuations inherent in plasma excitation at high intensities. Understanding the impact of plasma-optic-induced modulations on the spatio-temporal structure of the resulting pulses demands multidimensional characterization of relativistic plasma dynamics, an extremely difficult task, particularly at the low repetition rates typical of such lasers. Here, we present three-dimensional (3D) spatio-temporal measurements of such pulses based on spectral interferometry. We measure the complex space-time distortions induced in the laser pulses by relativistic plasma while simultaneously capturing the underlying plasma dynamics, all in a single shot. This all-optical technique can capture 3D spatio-temporal couplings within pulses at ultra-high peak powers, enabling further progress in ultra-high-intensity laser and plasma technologies.