A 3D model for hierarchical biomimetic adhesive pads is constructed. It is based on the main principles of the adhesive pads of the Tokay gecko and consists of hierarchical layers of vertical or tilted beams, where each layer is constructed in such a way that no cohesion between adjacent beams can occur. The elastic and adhesive properties are calculated analytically and numerically. For the adhesive contact on stochastically rough surfaces, the maximum adhesion force increases with increasing number of hierarchical layers. Additional calculations show that the adhesion force also depends on the height spectrum of the rough surface.