A point-based two-stage hierarchical method for automatic finite element mesh generation from a solid model is presented. Given the solid model of a component and the required nodal density distribution, nodes are generated according to the hierarchy-vertex, edge, face and solid. At the vertices, nodes are established naturally. Nodes on the edges, faces and inside the solid model are generated by recursive subdivision. The nodes are then connected to form a valid and well-conditioned finite element mesh of tetrahedron elements using modified Delaunay Triangulation. Checks are conducted to ensure the compatibility of geometry and topology between the solid model and the mesh.