Finite element (FE) analysis is widely used to evaluate the conditions of existing bridges. However, the creation of high-fidelity FE models (FEM) for existing bridges is often a challenging task. In view of the ability of 3D laser scanning to capture detailed geometrical information, this study proposes a direct scan-to-FEM strategy specifically for steel bridge superstructure and hence to facilitate the creation of high-fidelity FE models for existing steel girder bridges. Parametric representations are proposed to address partial occlusions in the point clouds as well as to reinforce the connectivity and alignment between the superstructure elements. Mesh generation algorithms are developed to automatically convert the parametric representations into all-hexahedron FE mesh assembly that can be used directly for FE analysis without any mesh verification or editing. Experimental validations are carried out to evaluate the effectiveness of proposed method in term of both mesh quality and analysis accuracy.