To explore the effects of cutting speed, feed rate and rake angle on chip morphology transition, a thermomechanical coupled orthogonal (2-D) finite element (FE) model is developed, and to determine the effects of tool nose radius and lead angle on hard turning process, an oblique (3-D) FE model is further proposed. Three one-factor simulations are conducted to determine the evolution of chip morphology with feed rate, rake angle, and cutting speed, respectively. The chip morphology evolution from continuous to saw-tooth chip is described by means of the variations of chip dimensional values, saw-tooth chip segmental degree and frequency. The results suggest that chip morphology transits from continuous to saw-tooth chip with increasing feed rate and cutting speed, and changing a tool’s positive rake angle to negative rake angle. There exists a critical cutting speed at which the chip morphology transfers from continuous to saw-tooth chip. The saw-tooth chip segmental frequency decreases as the feed rate and the tool negative rake angle value increases; however, it increases almost linearly with the cutting speed. The larger negative rake angle, the larger feed rate and higher cutting speed dominate saw-tooth chip morphology while positive rake angle, small feed rate and low cutting speed combine to determine continuous chip morphology. The 3-D FE model considers tool nose radii of 0.4 mm and 0.8 mm, respectively, with tool lead angels of 0 deg and 7 deg. The model successfully simulates 3-D saw-tooth chip morphology generated by periodic adiabatic shear and demonstrates the continuous and saw-tooth chip morphology, chip characteristic line and the material flow direction between chip-tool interfaces. The predicted chip morphology, cutting temperature, plastic strain distribution, and cutting forces agree well with the experimental data. The oblique cutting process simulation reveals that a bigger lead angle results in a severer chip deformation, the maximum temperature on the chip-tool interface reaches 1289 deg, close to the measured average temperature of 1100 deg; the predicted average tangential force is 150N, with 7% difference from the experimental data. When the cutting tool nose radius increases to 0.8 mm, the chip’s temperature and strain becomes relatively higher, and average tangential force increases 10N. This paper also discusses reasons for discrepancies between the experimental measured cutting force and that predicted by finite element simulation.