This paper presents a family of beam higher-orders finite elements based on a hierarchical one-dimensional unified formulation for a free vibration analysis of three-dimensional sandwich structures. The element stiffness and mass matrices are derived in a nucleal form that corresponds to a generic term in the displacement field approximation over the cross-section. This fundamental nucleus does not depend upon the approximation order nor the number of nodes per element that are free parameters of the formulation. Higher-order beam theories are, then, obtained straightforwardly. Timoshenko's classical beam theory is obtained as a special case. Short and slender beams are investigated. Simply supported, cantilevered and clamped-clamped boundary conditions are considered. Several natural frequencies as well as the corresponding modes are investigated. Results are validated in terms of accuracy and computational costs towards three-dimensional finite element solutions. The proposed hierarchical models, upon an appropriate choice of approximation order, yield accurate results with a reduced computational cost