This paper aims at introducing a new nodal-integration-based finite element method for the numerical calculation of residual stresses induced by welding processes. The main advantage of the proposed method is to be based on first-order tetrahedral meshes, thus greatly facilitating the meshing of complex geometries using currently available meshing tools. In addition, the formulation of the problem avoids any locking phenomena arising from the plastic incompressibility associated with von Mises plasticity and currently encountered with standard 4-node tetrahedral elements. The numerical results generated by the nodal approach are compared to those obtained with more classical simulations using finite elements based on mixed displacement–pressure formulations: 8-node Q1P0 hexahedra (linear displacement, constant pressure) and 4-node P1P1 tetrahedra (linear displacement, linear pressure). The comparisons evidence the efficiency of the nodal approach for the simulation of complex thermal–elastic–plastic problems