첫번째 앨범이 발매된, 3년 후에
This phrase means "since then, 3 years later, after the first album was released,". This means that the first album was released 3 years later since then.
Whereas,
첫번째 앨범이 발매된 지 3년 후에
or
첫번째 앨범이 발매된 후(로부터) 3년 후에
or
첫번째 앨범이 발매되고 나서 3년 후에
These clauses mean "3 years later since when the first album was released"
The dependent noun 지 refers to a periot of time since when something has happened. This dependent noun is usually used to emphasize the amount of period of time.
첫번째 앨범이 발매된 지(-가) 3년이다.
or
첫번째 앨범이 발매되고 나서 3년이 지났다.
3 years passesd by since when the first album was released.