Accurate numerical tools for the simulation of wave propagation are essential for the development and optimization of guided wave based Structural Health Monitoring systems. This article aims in delivering a systematic comparison of the Finite Element simulation of Lamb wave propagation using different types of elements. The numerical simulations are all realized within the environment of the commercial software Abaqus. In total three different element types are considered: conventional shell, continuum shell and 3D solid elements. To evaluate the performance of each element type, the numerically simulated signals are compared with experimental measurements from two panels. The first panel is made of Aluminium while the second is a layered composite panel. When continuum or 3D solid elements are used, the numerical predictions are closely correlated to the experimental observations. Accurate predictions were also made using conventional shell elements to model wave propagation in the first panel however, the group velocity for the first symmetric wave mode is over-estimated for the second panel when the excitation frequency is fc = 250kHz.