The formulation of a three-dimension isoparametric beam elemento model that includes kinematics of axial, bending, torsional and warping displacements is presented. The element geometry and displacement fields are approximated using cubic interpolation functions along the element lenght coordinate, on the beam center axis. The displacements are represented by three translation and one rotation degrees-of-freedom, that account for linear and shear strains, and a number of generalized degrees-of-freedom to represent strains in the beam due to cross-section warping. Continuity conditions between adjoining element and between an element and a rigid wall are achieved by using rotation compatibility conditions at the common node. These are obtained with a penalty procedure added to the element strain energy. Static condensation of the generalized degrees-of-freedom is performed in the element stiffness matrix such the formulation results into a four degree-of-freedom per node element. The formulation has been implemented and some sample analysis results are furnished to illustrate the element capabilities in handling typical engineering beam analyses.