In this paper we present a numerical study of the time evolution of solar prominences embedded in sheared magnetic arcades. The prominence is represented by a density enhancement in a background-stratified atmosphere and is connected to the photosphere through the magnetic field. By solving the ideal magnetohydrodynamic equations in three dimensions, we study the dynamics for a range of parameters representative of real prominences. Depending on the parameters considered, we find prominences that are suspended above the photosphere, i.e., detached prominences, but also configurations resembling curtain or hedgerow prominences whose material continuously connects to the photosphere. The plasma-β is an important parameter that determines the shape of the structure. In many cases magnetic Rayleigh-Taylor instabilities and oscillatory phenomena develop. Fingers and plumes are generated, affecting the whole prominence body and producing vertical structures in an essentially horizontal magnetic field. However, magnetic shear is able to reduce or even to suppress this instability.