In this paper, a universal charge-controlled mem-elements (including memristor, memcapacitor, and meminductor) emulator consisting of off-the-shelf devices is proposed. With the unchanged topology of the circuit, the emulator can realize memristor, memcapacitor, and meminductor, respectively. The proposed emulation circuit has a simple mathematical relationship and is constructed with few active devices and passive components, which not only reduces the cost but also facilitates reproduction and facilitates future application research. The grounding and floating forms of the circuit are demonstrated, and Multisim circuit simulation and breadboard experiments validate the emulator's effectiveness. Furthermore, a universal mem-elements chaotic circuit is designed by using the proposed mem-elements emulator and other circuit elements, which is a deformation circuit of Chua's dual circuit. In this circuit, no matter whether the mem-element is memristor, memcapacitor, or meminductor, the chaotic circuit structure does not change, and all can generate hyper-chaos.