The presence of voids can compromise the strength and continuity of downstream products. The Gurson–Tvergaard–Needleman model was utilized to obtain the relevant parameters. A 3D finite element model was then employed to investigate the elimination of voids in a porous free-cutting steel 1215MS during the hot shape rolling process. The center distribution of voids in the billet was considered in the finite element model, and the relationships between the void elimination and the pressure stress in the billet were analyzed. The influences of rolling reduction, rotation speed, and friction between the work roller and billet on the void elimination were also discussed. The results revealed that the pass reduction has a significant influence on the ultimate value of void volume fraction, which is beneficial for better material self-healing during the shape-rolling process. These findings suggest that accurate predictions of void elimination in the workpiece can be achieved using the finite element method for successful simulation of the hot shape rolling process.