Which word came first? Richard, Dick, or Penis?

Origin and evolution of the pejorative slang

In the mid-17th century, dick became slang for a man as a sexual partner.[5] For example, in the 1665 satireThe English Rogue by Richard Head, a "dick" procured to impregnate a character that is having difficulty conceiving:

The next Dick I pickt up for her was a man of a colour as contrary to the former, as light is to darkness, being swarthy; whose hair was as black as a sloe; middle statur'd, well set, both strong and active, a man so universally tryed, and so fruitfully successful, that there was hardly any female within ten miles gotten with child in hugger-mugger, but he was more than suspected to be Father of all the legitimate. Yet this too, proved an ineffectual Operator.[6]

An 1869 slang dictionary offered definitions of dickincluding "a riding whip" and an abbreviation of dictionary, also noting that in the North Country, it was used as a verb to indicate that a policeman was eyeing the subject.[7] The term came to be associated with the penis through usage by men in the military around the 1880s.[1]

https://en.wikipedia.org/wiki/Dick_(slang)

Definitely all 3 came at some point.

Just pointing out that Yiddish has several dozen words for types of dick, used to describe men's personality or status. Like Schmuck. I'm told Yiddish has zero words for Vagina, out of respect.

Don't forget Wang.

There are plenty of other names and I'd be surprised if the ones you used are the oldest or even the most popular.

Cock

Richard was actually the original name for the penis given by God. ...Until the "white man" started calling it penis.