Hierarchical ID-based authenticated key exchange (HID-AKE) is a cryptographic protocol to establish a common session key between parties with authentication based on their IDs with the hierarchical delegation of key generation functionality. All existing HID-AKE schemes are selective ID secure, and the only known standard model scheme relies on a non-standard assumption such as the q-type assumption. In this paper, we propose a generic construction of HID-AKE that is adaptive ID secure in the HID-eCK model (maximal-exposure-resilient security model) without random oracles. One of the concrete instantiations of our generic construction achieves the first adaptive ID secure HID-AKE scheme under the (standard) k-lin assumption in the standard model. Furthermore, it has the advantage that the computational complexity of pairing and exponentiation operations and the communication complexity do not depend on the depth of the hierarchy. Also, the other concrete instantiation achieves the first HID-AKE scheme based on lattices (i.e., post-quantum).