By analyzing $e^+e^-$ annihilation data corresponding to an integrated luminosity of 2.93 $\rm fb^{-1}$ collected at a center-of-mass energy of 3.773 GeV with the \text{BESIII} detector, the first observation of the semileptonic decays $D^0\rightarrow K_S^0\pi^-\pi^0 e^+ \nu_e$ and $D^+\rightarrow K_S^0\pi^+\pi^- e^+ \nu_e$ is reported. With a dominant hadronic contribution from $K_1(1270)$, the branching fractions are measured to be $\mathcal{B}(D^0\rightarrow {K}_1(1270)^-(\to K^0_S\pi^-\pi^0)e^+\nu_e)=(1.69^{+0.53}_{-0.46}\pm0.15)\times10^{-4}$ and $\mathcal{B}(D^+\to \bar{K}_1(1270)^0(\to K^0_S\pi^+\pi^-)e^+\nu_e)=(1.47^{+0.45}_{-0.40}\pm0.20)\times10^{-4}$ with statistical significance of 5.4$\sigma$ and 5.6$\sigma$, respectively. When combined with measurements of the $K_1(1270)\to K^+\pi^-\pi$ decays, the absolute branching fractions are determined to be $\mathcal{B}(D^0\to K_1(1270)^-e^+\nu_e)=(1.05^{+0.33}_{-0.28}\pm0.12\pm0.12)\times10^{-3}$ and $\mathcal{B}(D^+\to \bar{K}_1(1270)^0e^+\nu_e)=(1.29^{+0.40}_{-0.35}\pm0.18\pm0.15)\times10^{-3}$. The first and second uncertainties are statistical and systematic, respectively, and the third uncertainties originate from the assumed branching fractions of the $K_1(1270)\to K\pi\pi$ decays.