With Inventor 2013-2014 installed, head on over to Autodesk's app exchange and download the STL Import add-in (you need an Autodesk ID account).
Once you run the installer, you can check that the add-in is working. Jonathan Landeros has a blog post detailing how to check, add-ins. Autodesk also has a repair utility.
I was confused what to do with this add-in. There is a video that shows how the STL Import add-in works with Autodesk 2013, but I couldn't find that in Autodesk 2014. Instead, I found the add-in under Envisage Applications on the ribbon.
After a few seconds, the model loads, with an orange-ish clear material, this is the Composite surface. If you want to turn it to the typical gray material, go the "3D Model" on the ribbon, Surface tab > Sculpt, and select the model - as Dave Whiteley says, this will "produce the volume into a solid".
Dave Whiteley reminds that large models can take a long time to import, and that things like arcs won't show up in Inventor as typical dimension-able arcs because that's the nature of .STL files.
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