The plasma discharge channel in three-dimensional helical shape induced by pulsed direct current (DC) discharge without external stable magnetic field is discovered experimentally. It can be observed by intensified charge-coupled device camera that a luminous plasma structure fast propagates along a helical path in the form of guided streamer (ionization wave). And the propagation of the streamer is stable and repeatable. We take this streamer which propagates along the helical discharge path as the study object, and explain its mechanism by constructing an electromagnetic model. The result shows that the helical shape plasma plumes can exhibit two different chiral characteristics (right-handed and left-handed helical pattern). While the discharge parameters such as pulse frequency, boundary condition, etc. can all affect the propagating characteristics of helical streamers. The electromagnetic radiation driven by pulsed DC power inside the dielectric tube which forms the wave mode is an important source of the poloidal electrical field. The helical steamers form when the poloidal electrical field is close to the axial electrical field. The velocities of the propagation in poloidal and axial direction are estimated respectively, and the hybrid propagation modes involving the interchangeable helical pattern and the straight-line pattern propagating plasmas are explained from the viewpoint of multi-wave interaction.