Robust digital watermarking is an evolving research area that has received a large amount of attention and became a practical solution to copyright protection. This paper proposes a robust and imperceptible non-blind watermarking method for high rate embedding into 3D polygonal meshes. Our approach consists of partitioning, embedding and extracting steps. First, the mesh is partitioned into smaller sub-meshes, and then the watermark bits are embedded into each vertex in spatial domain. The main attractive features of this approach are flexibility in data embedding technique and fast computation compared to other recent techniques. The results showed that the proposed algorithm provides high robustness against the most common attacks. The applied attacks include the geometric transformations, adaptive random noise; mesh smoothing, mesh cropping and combinations of these attacks. The results of our approach are compared with recent published methods in terms of robustness, imperceptibility and payload. Moreover, the compared methods and the proposed one are evaluated according to a standard benchmark.