An efficient edge-based smoothed finite element method (ES-FEM) has been recently developed for solving solid mechanics problems. The ES-FEM uses triangular elements that can be generated easily for complicated domains. In this paper, the complexity study of the ES-FEM based on triangular elements is conducted in detail, which confirms the ES-FEM produces higher computational efficiency compared to the FEM. Therefore, the ES-FEM offers an excellent platform for adaptive analysis, and this paper presents an efficient adaptive procedure based on the ES-FEM. A smoothing domain based energy (SDE) error estimate is first devised making use of the features of the ES-FEM. The present error estimate differs from the conventional approaches and evaluates error based on smoothing domains used in the ES-FEM. A local refinement technique based on the Delaunay algorithm is then implemented to achieve high efficiency in the mesh refinement. In this refinement technique, each node is assigned a scaling factor to control the local nodal density, and refinement of the neighborhood of a node is accomplished simply by adjusting its scaling factor. Intensive numerical studies, including an actual engineering problem of an automobile part, show that the proposed adaptive procedure is effective and efficient in producing solutions of desired accuracy.