We found that three types of tethered surface model undergo a first-order phase transition between the smooth and the crumpled phase. The first and the third are discrete models of Helfrich, Polyakov, and Kleinert, and the second is that of Nambu and Goto. These are curvature models for biological membranes including artificial vesicles. The results obtained in this paper indicate that the first-order phase transition is universal in the sense that the order of the transition is independent of discretization of the Hamiltonian for the tethered surface model.