<p>Gravitational echoes can be used to probe the structure of spacetime. In this paper, we investigate the gravitational echoes in different braneworld models in five-dimensional spacetime. We derive the gravitational perturbation equations of these models, and obtain the time-dependent evolution equations of the extra-dimensional and radial components. Using a Gaussian wave packet as initial data, we study the time evolution of the gravitational perturbation. By monitoring the evolution of the Gaussian wave packet, the gravitational echoes are observed whether the wave packet is generated from inside or outside the braneworld. Furthermore, we can restrict the parameters of the braneworld by calculating the strength of the first gravitational echo and using the current gravitational wave data.</p>