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This paper proposes a novel software Transaction-Level Modeling (TLM) approach for efficient HW/SW co-simulation. In HW/SW co-simulation, timing synchronization should be involved between the hardware and software simulations for keeping their concurrency. However, improperly handling timing synchronization either slows down the simulation speed or scarifies the simulation accuracy. Our approach performs timing synchronization only at the points of HW/SW interactions, so the accurate simulation result can be achieved efficiently. Furthermore, we define three abstraction levels of software TLM models based on the type of interactions captured. Given the target software, the software TLM models can be automatically generated in multiple abstraction layers. The experimental results show that our software TLM models attain 3 million instructions per second (MIPS) for low-level abstraction and go as high as 248 MIPS for higher level abstraction. Therefore, designers can have efficient co-simulation by selecting a proper layer according to the abstraction of corresponding hardware components.