The structure of thermoelectric materials largely determines the thermoelectric characteristics. Hence, a better understanding of the details of the structural transformation process/conditions can open doors for new applications. In this study, the structural transformation of PbTe (a typical thermoelectric material) is studied at the atomic scale, and both nucleation and growth are analyzed. We found that the phase transition mainly occurs at the surface of the material, and it is mainly determined by the surface energy and the degree of freedom the atoms have. After exposure to an electron beam and high temperature, high-density crystal-nuclei appear on the surface, which continue to grow into large particles. The particle formation is consistent with the known oriented-attachment growth mode. In addition, the geometric structure changes during the transformation process. The growth of nanoparticles is largely determined by the van der Waals force, due to which adjacent particles gradually move closer. During this movement, as the relative position of the particles changes, the direction of the interaction force changes too, which causes the particles to rotate by a certain angle.