Green supply chain management (SCM) and the green vendor-managed inventory (VMI) strategy are increasingly becoming the focus of the academic world. This paper innovatively investigates the green VMI problems in a three-tier supply chain network, especially incorporating multiple constraints such as supply chain visibility (SCV), quality constraints, carbon emission allowance trading mechanism and green technology investment. To solve this multi-constraint problem, a robust multi-objective optimisation model is constructed in this paper to handle the demand uncertainty. Example values verify the model's performance, and the sensitivity analysis of critical parameters is carried out. The results show that the robust model can effectively realise the optimal solution of the whole multi-objective system by balancing the optimal value of a single objective function under the multi-objective model. In addition, maintaining a low defect rate and delivery delay rate is crucial for efficient supply chain operation. Furthermore, SCV and supply chain green efficiency need to be balanced, and the pursuit of high SCV will inevitably increase the carbon emission cost of the supply chain system. However, the results also show that investment in green technology R&D can help to improve this situation and realise the effective reduction of carbon emissions while increasing SCV.