Put them into a list and use merge with Reduce
Reduce(function(x, y) merge(x, y, all=TRUE), list(df1, df2, df3))
# id v1 v2 v3
# 1 1 1 NA NA
# 2 10 4 NA NA
# 3 2 3 4 NA
# 4 43 5 NA NA
# 5 73 2 NA NA
# 6 23 NA 2 1
# 7 57 NA 3 NA
# 8 62 NA 5 2
# 9 7 NA 1 NA
# 10 96 NA 6 NA
You can also use this more concise version:
Reduce(function(...) merge(..., all=TRUE), list(df1, df2, df3))
