In traditional cellular networks, users at the cell edge often suffer from poor quality of service (QoS) due to large distance-dependent path loss and severe inter-cell interference. While cell-free (CF) massive multi-input multi-out (MIMO) mitigates this issue by distributing access points (APs) to ensure uniform QoS, the deployment of numerous distributed APs and a fronthaul network incurs high infrastructure costs. To balance performance and cost efficiency, this article proposes a simplified design called hierarchical cell-free (HCF) massive MIMO. The key idea is to reduce the number of APs, thus minimizing the scale of the fronthaul network. The antennas from the decommissioned APs are aggregated at a central base station (cBS), which also serves as the coordinator for distributed APs. We derive closed-form expressions for uplink and downlink spectral efficiency (SE) for HCF, CF, and cellular massive MIMO under pilot contamination and correlated fading channels, considering the use of multi-antenna APs. Numerical results confirm that the hierarchical architecture achieves $95\%$-likely per-user SE comparable to CF, enhancing cell-edge user rates in cellular systems by over 100 times, while significantly reducing the complexity and cost of the fronthaul network in CF. We develop max-min fairness algorithms for joint power control of the cBS and APs in the downlink, and the users in the uplink. These algorithms not only boost fairness and system capacity but also dramatically lower transmission power, e.g., achieving over $70\%$ savings in uplink, particularly beneficial for battery-powered mobile devices.