An efficient algorithm for the random packing of spheres can significantly save the cost of the preparation of an initial configuration often required in discrete element simulations. It is not trivial to generate such random packing at a large scale, particularly when spheres of various sizes and geometric domains of different shapes are present. Motivated by the idea of compression complemented by an efficient physical process to increase packing density, shaking, a new approach, termed compression algorithm, is proposed in this work to randomly fill any arbitrary polyhedral or cylindrical domains with spheres of various sizes. The algorithm features both simplicity and high efficiency. Tests show that it takes 181 s on a 1.4-GHz PC to complete the filling of a cylindrical domain with a total number of 26,787 spheres, achieving a packing density of 52.89%. (c) 2005 Elsevier B.V. All rights reserved.