Nowadays, concrete-filled steel tubes are widely used in large-scale buildings. However, there are still certain difficulties in detecting internal defects in concrete-filled steel tubes. Piezoelectric ceramic materials possess unique piezoelectric properties and can be utilized to detect defects in concrete-filled steel tubes. In this paper, eight concrete-filled steel tube components with preset defects were cast, and piezoelectric ceramic sheets were attached to the outer wall surface as the driving and sensing ends. The wave analysis method was then used to process and analyze the collected signals. By comparing the changes in signal energy received by the sensor end on the defective surface and the healthy surface, it was found that the wave analysis method is more effective in identifying surface and internal defects in concrete-filled steel tubes. The presence of defects hinders the propagation of stress waves to the interior, thereby increasing the collected signal energy. Therefore, the location of the defect can be determined by comparing the amplitudes of surface waves along different paths. In the same measurement arrangement, the larger the amplitude, the larger the void range in the path. The presence of defects hinders the propagation of signals within the component and reduces energy, so body waves can be used to qualitatively identify void defects. In the measurement arrangement, the smaller the amplitude, the greater the degree of voiding in the path. In summary, the use of the piezoelectric ceramic wave analysis method can effectively identify the type and location of internal defects in concrete. This method has proven feasible and effective in the field of internal defect detection in concrete-filled steel tubes.