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A detailed study, by finite element method (FEM), was conducted on an automotive engine exhaust valve subject to various loads (i.e. spring load, combustion pressure load, temperature profile and valve impact closing velocity). The 3D nonlinear (contact element and temperature-dependent) thermal-mechanical model was constructed and implicit time integration method was employed in transient dynamics under impact velocity. The predicted temperatures and maximum valve stress under impact velocity via FEM were compared with the measured test data, which were in good agreement. In addition, this study finds that the energy transfer during valve closing in normal engine operation is mainly conservative, and a linear relation exists between valve closing velocity and maximum stem stress, that was also confirmed by both test data and analytical expression presented using elastic wave and vibration theory.