We consider self-adjoint Dirac operators D = D0 + V(x), where D0 is the free three-dimensional Dirac operator and V(x) is a smooth compactly supported Hermitian matrix. We define resonances of D as poles of the meromorphic continuation of its cut-off resolvent. An upper bound on the number of resonances in disks, an estimate on the scattering determinant and the Lifshits-Krein trace formula then leads to a global Poisson wave trace formula for resonances of D.