The objective of this paper is to investigate the concrete cover measurement by a simple impact device and overlapping waveform technique. Experimental results show that the pattern of voltage output of impact device is very easy to identify and the initial time of impact can be measured directly without placing additional receiver. The impact device enables the overlapping waveform technique to analyze waveform automatically by computer. When the concrete cover, over than 100 mm, is measured, long distance between impactor and receiver is required; therefore, the amplitude of surface displacement caused by refracted P-wave from limited reinforcement surface is so weak that it is hard to interpret the exact arrival time of stress wave. In order to overcome the difficulties for measuring the concrete cover, superposed waveform method was utilized to enhance the initial disturbance of waveform. In this paper, overlap of five displacement waveforms can provide a stable and satisfied result when 3 mm diameter impactor is used.