: Conventional ultrasonic non-destructive inspection systems used for detecting cracks in concrete are based primarily on the visual inspection of the amplitude of the sensor output and therefore, are not highly reliable. Moreover, in an inclined crack, the point of reflection of the transmitted signal is not necessarily just below the sensor, because this point is determined by a trade-off between the directivity of the sensor and the tilt angle of the inclined crack. Therefore, the conventional methods are unreliable for identifying an inclined crack in concrete structures. In this paper, we propose a simple and effective method to detect an inclined crack in concrete structures using an ultrasonic sensor with the signal propagation model and a method of least squares. First, the signal propagation model is used to obtain the propagation times of the reflected wave signals from the crack using a pattern matching technique and then a method of least squares is applied to identify the inclined crack accurately considering both the reflection efficiency and the signal strength at the point of reflection on the crack. Finally, experiments are performed to demonstrate the validity of the method.