A thermoelectric generation device using engine waste heat includes: a thermoelectric element including a sheet-type graphite layer having thermal conductivity; first heat transfer bodies joined to the graphite layer at intervals and having thermal conductivity and electrical conductivity; second heat transfer bodies disposed between the first heat transfer bodies at intervals and having thermal conductivity and electrical conductivity; first pellets of a P-type thermoelectric material joined between the first and second heat transfer bodies alternately with second pellets of an N-type thermoelectric material. The second pellets are joined between the first and second heat transfer bodies alternately with the first pellets. In particular, at least one of the first pellet or the second pellet is joined in a line-contact to form an angle with an inclined portion of the adjacent heat transfer body and to form a surface-contact when the graphite layer is curved.