 Solution

A rigid rotation of a regular tetrahedron permutes its four vertices, giving an injective group homomorphism from its rotation group to $S_4$: fixing every vertex forces the rotation to be the identity. Its seven nontrivial rotation axes are four lines through a vertex and the opposite face centre, and three lines through midpoints of opposite edges.

Each vertex-face axis admits rotations by $\pm 2\pi /3$, giving eight three-cycles on the vertices. Each opposite-edge axis admits a half-turn, giving three double transpositions. Along with the identity there are twelve rotations. All their induced permutations are even, so the injective image is a twelve-element subgroup of $A_4$, hence the whole group. ThereforeIts action on ${\mathbb{R}}^3$ supplies a three-dimensional representation. To prove irreducibility even after complexification, choose verticesThe group contains the half-turns $D_x=\mathrm{diag}(1,-1,-1)$ and their cyclic variants, as well as the coordinate cycle $(x,y,z)\mapsto (y,z,x)$. If a nonzero invariant subspace over the complex numbers contains a vector with nonzero $x$ component, applying $(I+D_x)/2$ shows it contains the $x$ axis. If another component is nonzero, use the corresponding projection instead. The coordinate cycle then supplies the other two axes. Every nonzero invariant subspace is therefore the full space, provingThis also gives an elementary proof without presupposing the character table.