You can create form view in odoo by using below code in .xml file
There are two ways to create a Form View in Odoo.
1. Existing Form
2. Simple Form View.

1- Existing form Here you have to inherit form view and change this form view in odoo.

<?xml version="1.0" encoding="UTF-8"?>
<openerp>
      <data>
         <record id="invoice_form" model="ir.ui.view">
        <field name="name">account.invoice.form.inherit</field>
        <field name="model">account.invoice</field>
        <field name="inherit_id" ref="account.invoice_form" />
        <field name="arch" type="xml">
         <data>
            <field name="labour" position="after">
            <field name="cartage"/>
            </field>
         </data>
      </field>
  </record>
</data>

2- Simple form view- This is simple form view which have no dependencies to other form in odoo. You need to use this code in your .xml file in Odoo to create form view.

<?xml version="1.0" ?>
<openerp>
    <data>

        <record id="view_invoice_penalty_form" model="ir.ui.view">
            <field name="name">penalty.form</field>
            <field name="model">add.penalty</field>
            <field name="type">form</field>
            <field name="arch" type="xml">
                <form string="Penalty" >
               <field name="date"/>
                </form>
            </field>
        </record>

        <record model="ir.actions.act_window" id="action_penalty_form">
            <field name="name">Add penalty</field>
            <field name="res_model">add.penalty</field>
        </record>

  <menuitem name="Add Penalty" id="menu_penalty" parent="account.menu_finance"   action="action_penalty_form" sequence="2"/>    
    </data>
</openerp>