In this paper, an enhanced solid finite element formulation for rotor dynamics analysis is presented. The element kinematics is first defined with a Total Lagrangian formulation in order to account for possible centrifugal stiffening effect and its associated pre-stress deformation. The novelty of the three-dimensional element proposed in this study is then to correctly consider the effect of inertia due to small rotational deformation occurring around the pre-stressed equilibrium position. The rotational motion is characterized by interpolation of the translational degrees of freedom of the element. The accuracy and convergence of the proposed finite element are tested on several numerical examples consisting of a rotating rigid disk and a rotating Timoshenko beam with different slenderness ratios. All results agree well with analytical solutions excerpted from literature and demonstrate the usefulness and applicability of the proposed finite element formulation. • Initial stress effect from centrifugal force is included. • A total-Lagrangian formulation is used. • The change of direction of the spin velocity induced by deformation is accounted for. • Results show good accuracy and convergence rate at high rotating speed.