The easiest way is to use the modulus division operator.
if ($counter % 3 == 0) {
echo 'image file';
}
How this works:
Modulus division returns the remainder. The remainder is always equal to 0 when you are at an even multiple.
There is one catch: 0 % 3
is equal to 0. This could result in unexpected results if your counter starts at 0.