We can look at this as a Markov process.
We have four states:
- Our last roll was not a 6;
- Our last roll was a 6, but the roll before that was not;
- Our last two rolls were 6s, but the one before those was not;
- Our last three rolls were 6s, in which case we are done.
Then we have the following transition matrix:
$$A=\left(\begin{matrix}
\frac{5}{6} & \frac{1}{6} & 0 & 0 \\
\frac{5}{6} & 0 & \frac{1}{6} & 0 \\
\frac{5}{6} & 0 & 0 & \frac{1}{6} \\
0 & 0 & 0 & 1
\end{matrix}
\right)$$
Then $A^n_{1,4}$ is the probability that we have achieved three 6s in a row by roll $n$.
And so, $p(n)=A^{n}_{1,4} - A^{n-1}_{1,4}$ yields the probability that we achieve three 6s on the $n$th roll, and not before.
So $p(0)=p(1)=p(2)=0$, $p(3)=\frac{1}{216}$, $p(4)=p(5)=p(6)=\frac{5}{1296}$, $p(7)=\frac{1075}{279936}$, $p(8)=\frac{6425}{1679616}$, etc.
Is there a closed form? If we look at $6^i p(i)$, we get the sequence that starts $$1,5,30,180,1075,6425,38400,229500,\dots . $$ This sequence is not in the OEIS, so it's a fair bet there is no closed form.