We have investigated vortex structures in three-dimensional superconductors under a helical magnetic field from a chiral helimagnet numerically. In order to obtain vortex structures, we solve three-dimensional Ginzburg-Landau equations with the finite element method. The distribution of the helical magnetic field is assumed to be proportional to the distribution of the magnetic moments in the chiral helimagnet. Then, the magnetic field is the same direction in the yz-plane and helical rotation along the helical axis. Under this helical magnetic field, vortices appear to be perpendicular to the surface of the superconductor. But we have found that there are tilted vortices toward the helical axis, although there is no component of the magnetic field along the helical axis. This vortex structure depends on the chirality of the distribution of the helical magnetic field.